4-121
Operation Procedure
PR02W
operation
Front panel
key operation
Display
Explanation
Press the MODE/SET Key to change to System Check
Mode.
Press the Up or Down Key to set function code Fn006.
(See note.)
(1 s min.)
Press DATA Key (front panel: DATA Key for 1 s min.) to
display “trCLr.”
Press the MODE/SET Key to clear the alarm history
data. When the data has been cleared, “donE” will flash
for approximately 1 s.
(Approx. 1 s later)
After “donE” has been displayed, the display will return
to “trCLr.”
(1 s min.)
Press the DATA Key (front panel: DATA Key for 1 s
min.). The display will return to the System Check Mode
function code.
Note
The digits you can manipulate will flash.
4-11-2 Online Auto-tuning Functions
•
In System Check Mode, online auto-tuning consists of the rigidity setting (Fn001) and saving tuning
results (Fn007).
H
Rigidity Setting During Online Auto-tuning (Fn001)
•
The rigidity setting during online auto-tuning sets the target speed loop gain and position loop gain for
the servo system.
•
Select the rigidity setting according to the following 10 levels for the mechanical system.
Rigidity setting
Fn001
(d.00
jj
)
Position loop gain
[s
--1
]
Pn102
Speed loop gain
[Hz]
Pn100
Speed loop
integration time
constant
[x 0.01 ms]
Pn101
Torque command
filter time
constant
[x 0.01 ms]
Pn401
01
15
15
6000
250
02
20
20
4500
200
03
30
30
3000
130
04
40
40
2000
100
05
60
60
1500
70
06
85
85
1000
50
07
120
120
800
30
08
160
160
600
20
09
200
200
500
15
10
250
250
400
10
Note 1.
The higher the rigidity setting, the higher the servo system loop gain, and the shorter the posi-
tioning time. If the set value is too high, however, the machinery may vibrate. If vibration oc-
curs, lower the setting.
Operation
Chapter 4
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