-71-
No. JXC
※
-OMT0002-C
10.6 Speed tuning control
When an (main) axis is delayed due to external load, the speed of other (slave) axes is controlled.
Not the synchronization of the position of the main axis and slave axis. Pushing operation cannot be
used.
Caution
(1) Actuators with a different lead cannot be used. Use the same type of actuators with the
same lead and stroke.
(2) The minimum speed for speed tuning control is different from the minimum actuator
speed.
Refer to
Supplement 1. Actuator Specifications
for the specifications of the actuators.
(3) When an external force is applied to the slave axis, which is higher than the force applied
to the main axis during operation, the speed cannot be tuned for the slave axis.
Once the main axis is fixed, the relationship of speed between the main axis and the slave axis is fixed
until the completion of the step data operation.
Therefore, a new speed cannot be tuned to the new
reduced speed of the slave axis.
(4) Speed is not tuned during deceleration.
The timing of deceleration start or level of deceleration depends on the load and operating conditions of
the actuators.
(5) If the external force applied to the main axis is removed during operation, the main axis
speed may overshoot.
During speed tuning control, the speed of the main axis is controlled so that it is close to the set speed.
(The speed of the slave axis is controlled to tune with the actual speed of the main axis)
So, if the external force is removed after the condition in which the main axis continues failing to respond
to the set speed, the main axis speed may exceed the set speed rapidly due to the accumulated
deviation.
(6) Speed cannot be tuned to the axis whose speed exceeds the set speed due to external
force, etc.
Speed tuning control works when the actual speed becomes slower than the set speed. So, it does not
work when the set speed is exceeded.
(7) When an external force is applied to multiple axes simultaneously, it is possible that the
speed of the slave axis which receives the external force decreases.
Even if an external force is applied to multiple axes, only 1 axis is assigned as the main axis.
Therefore, the speed of the the slave axes being applied with external force which are not assigned as a
main axis may decrease due to accumulated deviation.
(8) When an external force is applied to the axes unevenly, and the main axis speed exceeds
the set speed rapidly, it may take time for the speed of the slave axes to be tuned with the
main axis speed.
If an external force is applied and the movement delay is generated at an early stage, that axis becomes
the main axis.
When the main axis overshoots due to the accumulated deviation, other axes try to tune with the main
axis within the set speed.
Therefore, it takes time for them to be tuned.
Please design and construct the system taking these cautions into consideration.
