Direct Drive Servo-
motors
You can set the desired travel distance.
The default setting is for a value equivalent
to 0.3 rotations.
Linear Servomotors
You can set the desired travel distance in
increments of 1,000 reference units. (The
default setting is for 90 mm.)
´
2/3
´
2/3
Motor rated torque:
Rated motor speed
Rated motor speed
Approx. 100%
Motor rated torque:
Approx. 100%
Example of Automatic Operation Pattern
Time t
Time t
References
Responses
SERVOPACK
Note: Execute autotuning without a host reference after jogging to
a position that ensures a suitable range of motion.
Travel Distance
Servomotor
Travel Distance
Movement
speed
Fig. 238: Autotuning without Host Reference
WARNING!
Autotuning without a host reference requires operating the Servo-
motor and therefore presents hazards. Observe the following pre-
caution.
–
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.
9.7.3 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
autotuning with a host reference or custom tuning. Refer to the following sections for
details.
Chap. 9.8 ‘Autotuning with a Host Reference’ page 339
Chap. 9.9 ‘Custom Tuning’ page 350
n
When the machine system can move only in one direction
n
When the range of motion is 0.5 rotations or less
n
When a suitable range of motion is not possible
n
When the moment of inertia changes within the set operating range
n
When the machine has high friction
n
When the rigidity of the machine is low and vibration occurs when positioning is per-
formed
n
When the position integration function is used
Systems for Which Execu-
tion Cannot Be Performed
Systems for Which Adjust-
ments Cannot Be Made
Accurately
Sigma-7 Series SERVOPACKs
Tuning
Autotuning without Host Reference > Restrictions
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