8.7 Autotuning with a Host Reference
8.7.3 Operating Procedure
8
T
uning
8-35
•
When the time required to stop is 10 ms or less
•
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
•
When mode switching is used
•
When the positioning completion width (Pn522) is too narrow
Refer to the following sections for details on custom tuning.
Preparations
Always check the following before you execute autotuning with a host reference.
•
The servo must be in ready status.
•
There must be no overtravel.
•
The servo must be OFF.
•
Position control must be selected if power is supplied to the motor (i.e., when the servo is
ON).
•
The gain selection switch must be set to manual gain selection (Pn139 = n.
0).
•
The first gains must be selected.
•
The test without a motor function must be disabled (Pn00C = n.
0).
•
There must be no warnings.
•
The tuning-less function must be disabled (Pn170 = n.
0).
•
The parameters must not be write prohibited.
8.7.3
Operating Procedure
Use the following procedure to perform autotuning with a host reference.
1.
Confirm that the moment of inertia ratio (Pn103) is set correctly.
2.
Click the
Servo Drive
Button in the workspace of the Main Window of the Sig-
maWin+.
3.
Select
Tuning
in the Menu Dialog Box.
The Tuning Dialog Box will be displayed.
Click the
Cancel
Button to cancel tuning.
CAUTION
If you are using the SERVOPACK for phase control, set the mode selection to 1. If 2 or 3 is
selected for the mode, correct phase control may not be possible.
