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■ 4: Behavior configuration of G5 series
Fill in the Auto Tune Configuration, Motion Profile Generator, and Criteria for finishing Auto Tune fields of auto tuning, and
click
Next
.
● Auto Tune Configuration
• Set the number of times in Number of tuning iterations.
• Set the time of one tuning in Duration of a tuning iteration.
* Start tuning with default values; if the tuning was inadequate, set enough number and time.
● Motion Profile Generator
Select one of the following two commands for operation to execute auto tuning.
• The Motion Controller will perform the motion profile: Issues commands from the drive controlling controller to execute
auto tuning.
• CX-Drive (and not the motion controller) will perform the motion profile: The operation is commanded by CX-Drive.
* As the JOG commands of CX-Drive, set Operation (operation method), Step distance, Step Jog Speed, and
Acceleration/Deceleration Time of the motor.
● Criteria for finishing Auto Tune
Set the positioning stabilization time when auto tuning is completed.
As the conditions for that motion, set
Overshoot level
,
Torque vibration level
, and
Positioning Completion Range 1
.
* Auto tuning may not be completed depending on the setting of
Stabilization time
or
Positioning Completion Range 1
. In
that case, increase one of the settings, and execute it again.
* Auto tuning may not be completed if
Overshoot level
is set too low.
* Detecting a vibration of
Torque vibration level
results in a stop. In that case, increase the setting, and execute it again.
Alternatively, enable adaptive filters, or read vibration frequencies from torque waveforms and set these frequencies to
notch filters to reduce the gains of vibration generating frequencies, and then execute it again.
G5 series
Remarks
Parameter
No.
[dec]
Parameter name
Default
setting
[dec]
Pn200
Adaptive Filter
Selection
0
To enable adaptive filters, set 2: Two adaptive filters enabled (3rd and 4th
notch filters used).
Pn201
Notch 1 Frequency
Setting
5,000
Hz
To use notch filters, set vibrating frequencies to
Notch 1 Frequency
Setting
/
Notch 2 Frequency Setting
(Pn201/Pn204).
Pn204
Notch 2 Frequency
Setting
