User Manual Of EL7-EC** AC Servo
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3. Click and hold “CCW” to start the motor. Current position will show motor cycles of
revolution. Click on POS 1 to save current position as starting point. Click and hold “CW”
to start the motor again. Click on POS 2 to save current position as ending point.
4. Set the waiting time between each cycle in Pr6.21 and no. of cycles in Pr6.22. Click on
‘Run’ and motor will run according to the parameters set.
5. After the calculation is done, inertia ratio will be calculated automatically and click on
‘write’ to enter the calculated value into Pr0.04.
6. Click on “
” to enter parameters management to check or modify Pr0.04. Then, click
on “
” to save parameters to driver.
Please take note:
1.
Trial run velocity and distance should be optimal to prevent any axis from bumping
into objects.
2.
It is recommended to move only in 1 direction for vertically mounted axis. Take
precaution before moving the axis.
3.
For applications with higher frictional drag, please set a minimal travel distance.
Pr0.04
Name
Inertia ratio
Mode
F
Range
0~20000 Unit
%
Default
250
Index
2004h
Activation
Immediate
Pr0.04=( load inertia/motor rotational inertia)×100%
Notice:
Set inertia ratio according to actual load inertia. When both are uniform, actual motor velocity loop
responsiveness and gain settings will be consistent. If inertia ratio is greater than actual value,
velocity loop gain settings will be higher and vice versa.
6.3 Auto gain adjustment
This function will measure real time mechanical properties and set gain values in
accordance to mechanical stiffness. Can be used in any control mode
Conditions
to implement
Control
mode
Please refer to Pr0.02 for detailed explanations. Auto gain adjustment is
different for each control mode.
Other
・
Servo driver needs to be enabled
・
Set up input signals such as deviation counter clearing and command
input; Torque limit and other motion control parameters to enable motor
to move normally without obstacles.
Under certain conditions, external factors might affect automatic gain adjustment
functions. If the conditions as listed exist or unfavorable, please disable the automatic
gain adjustment function.
