Omron R88D-GT series, Руководство пользователя

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7-14
7-3 Normal Mode Autotuning
7
Adjustment Functions
7-3 Normal Mode Autotuning
Normal mode autotuning operates the Servomotor according to command patterns automatically
created in the Servo Drive, then estimates the load inertia based on the torque required at that time
and automatically sets the appropriate gain.
Note Set the Torque Limit Selection (Pn03) to 1. Operation may be incorrect if the setting is not 1.
• Normal mode autotuning may not function properly under the conditions described in the following
table. If normal mode autotuning does not function properly, use manual tuning.
Note 1. A tuning error will occur if an error occurs, the servo turns OFF, the main power supply is
turned OFF, drive prohibit is enabled, or a deviation counter reset occurs while normal mode
autotuning is in operation.
Note 2. If normal mode autotuning is executed, and the load inertia cannot be estimated, the gain
will remain the same as it was before normal mode autotuning.
Note 3. When normal mode autotuning is being executed, the Servomotor output torque can be
output to the maximum set in the No. 1 Torque Limit (Pn5E) parameter.
Note 4. Take sufficient care to ensure safety. If vibration occurs, immediately turn OFF the power
supply or the servo and return the gain to the default by using the parameter settings.
• Normal mode autotuning operates under the following conditions.
Conditions under which normal mode autotuning operates
Control mode All control modes can be used.
Others
• The servo is ON.
• The deviation counter reset signal is not input.
Conditions under which normal mode autotuning does not function properly
Load inertia
• If the load inertia is too small or too large compared with the rotor inertia (i.e., less
than 3 times, more than 20 times, or more than the applicable load inertia ratio).
• If the load inertia changes.
Load
• If the machine rigidity is extremely low.
• If there is backlash or play in the system.
Servo-
motor
current
Servo-
motor
speed
Servo-
motor
Servo Drive
Encoder
Current
control
Position/
speed control
Position command
Normal mode autotuning
Estimated load
inertia
Motor acceleration
Torque
com-
mand
Automatic
gain
adjustment
Internal
position
command
generation
Servomotor torque
Precautions
for Correct Use