5 Adjustments
5-34
(1) Preparation
Check the following settings before performing advanced autotuning by reference. The
message
“NO-OP” indicating that the settings are not appropriate will be displayed, if all of
the following conditions are not met.
• The DRIVER must be in Servo Ready status (Refer to
4.8.4
).
• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled. (Pn00C.0 = 0).
• All warnings must be cleared.
• The write prohibited setting parameter (Fn010) must be set to Write permitted
(P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).
(2) When Advanced Autotuning by Reference Cannot Be Performed Successfully
Advanced autotuning by reference cannot be performed successfully under the following
conditions. If the result of autotuning is not satisfactory, perform one-parameter tuning
(Fn203). Refer to
5.5 One-parameter Tuning (Fn203)
for details.
• The travel distance in response to references from the PC or PLC...etc. is smaller than
the set positioning com- pleted width (Pn522).
• The motor speed in response to references from the PC or PLC...etc. is smaller than
the set rotation detection level (Pn502).
• The stopping time, i.e., the period while the positioning completed /COIN signal is OFF,
is 10 ms or less.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width (Pn522) is too small.
• Advanced autotuning by reference starts adjustments based on the
positioning com- pleted width (Pn522). Set the electronic gear ratio
(Pn20E/Pn210) and positioning completed width (Pn522) to the actual value
during operation.
• Unless the positioning completed signal (/COIN) is turned ON within
approximately 3 seconds after positioning has been completed, "WAITING"
will flash. Furthermore, unless the positioning completed signal (/COIN) is
turned ON within approximately 10 seconds, "Error" will flash for 2 seconds
and tuning will be aborted.
Change only the overshoot detection level (Pn561) to finely adjust the amount of
overshooting without chang- ing the positioning completed width (Pn522). Because Pn561 is
set by default to 100%, the allowable amount of overshooting is the same amount as that for
the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted without any
overshooting in the posi- tioning completed width. If the setting of Pn561 is changed,
however, the positioning time may be extended.
Pn561
Overshoot Detection Level
Speed
Position
Torque
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
100
Immediately
Setup
Содержание LECYU Series
Страница 30: ...1 Outline 1 9 1 4 3 Three phase 200 V LECYU2 V9 Models ...
Страница 65: ...3 Wiring and Connection 3 11 3 Wiring Example with DC Power Supply Input DRIVER ...
Страница 92: ...3 Wiring and Connection 3 38 External Dimensions Units mm 1 FN Type by Schaffner EMC Inc ...
Страница 93: ...3 Wiring and Connection 3 39 2 FN Type ...
Страница 99: ...3 Wiring and Connection 3 45 4 Cable with Connector for CN8 Model LEC JZ CVSAF External Dimensions Units mm ...
Страница 143: ...4 Operation 4 44 ...
