8.6 Autotuning without Host Reference
8.6.2 Restrictions
8-24
8.6.2
Restrictions
The following restrictions apply to autotuning without a host reference.
If you cannot use autotuning without a host reference because of these restrictions, use auto-
tuning with a host reference or custom tuning. Refer to the following section for details.
8.7 Autotuning with a Host Reference
Systems for Which Execution Cannot Be Performed
•
When the machine system can move only in one direction
•
When the range of motion is 0.5 rotations or less
Systems for Which Adjustments Cannot Be Made Accu-
rately
•
When a suitable range of motion is not possible
•
When the moment of inertia changes within the set operating range
•
When the machine has high dynamic friction
•
When the rigidity of the machine is low and vibration occurs when positioning is performed
•
When the position integration function is used
•
When proportional control is used
Note: If you specify calculating the moment of inertia, an error will occur if you use the Speed Loop P/PI Switch Bit
(OW
01 bit 3) to change between P and PI control during moment of inertia estimation.
•
When mode switching is used
Note: If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used while
the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia estimation
has been completed.
•
When speed feedforward or torque feedforward is input
•
When the positioning completion width (Pn522) is too narrow
WARNING
Autotuning without a host reference requires operating the Servomotor and therefore pres-
ents hazards. Observe the following precautions.
•
Confirm safety around moving parts.
This function involves automatic operation with vibration. Make sure that you can perform an
emergency stop (to turn OFF the power supply) at any time. There will be movement in both
directions within the set range of movement. Check the range of movement and the directions
and implement protective controls for safety, such as the overtravel functions.
Travel
s
peed
Reference
s
Travel di
s
tance
Travel di
s
tance
Note: Execute moment of inertia e
s
timation after jogging to
a po
s
ition that en
s
ure
s
a
s
uitable range of motion.
S
ervomotor
Re
s
pon
s
e
s
S
ERVOPACK
Rated motor
s
peed × 2/
3
Rated motor
s
peed × 2/
3
Example of Automatic Operation Pattern
Rated motor torque:
Approx. 100%
Rated motor torque:
Approx. 100%
Time t
Time t
