5. Servo operating
4-20
4.4.3. Precaution during Auto-tuning
1) Operate at 500[rpm] or higher speed.
2) Manually set the acceleration/deceleration time setting of speed shortly [ms]. If the
acceleration/deceleration time is set too long, the speed deviation during the algorithm
processing time is too small to make estimation.
3) Avoid using Auto-tuning when operating weak belt with lower mechanical strength.
4) Avoid using Auto-tuning for system with load inertia abruptly changing.
5) When the P02-18 (System response setting) is too low, increase the value.
6) It does not apply when using the torque control mode.
4.5. Important Points of Gain Adjustment
From the drive's command, the motor needs to run as soon as possible with no time delay.
Please familiarize yourself with the following important points for this operation.
1) Important points when in speed control mode
- Speed control proportional gain(P03-05) gradually increases the motor (machine) to a
value that does not generate strange sounds and vibrations. Also, since the speed control
proportional gain value and inertia ratio are proportional to each other, if the noise or
vibration occurs in the motor (machine), reducing the inertia ratio or speed control
proportional gain reduces the strange sound and vibration in the motor (machine).
- Like the speed control proportional gain, the inertia ratio(P02-19) gradually increases to the
value where strange sounds and vibrations do not occur in the motor (machine). In addition,
since the inertia ratio and the speed control proportional gain are proportional, if the noise
or vibration occurs in the motor (machine), reducing the speed control proportional gain or
inertia ratio reduces the strange sound and vibration in the motor (machine).
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