E1 Series Servo Drive User Manual Tuning
HIWIN MIKROSYSTEM CORP. 10-9
Note:
Auto tuning cannot be performed when tuneless function is enabled (Pt170 = t.1 (Default)). Before performing
auto tuning, please disable tuneless function (Pt170 = t.0) first.
10.4.2 Precautions before executing auto tuning
During auto tuning, the motor slightly vibrates. If it vibrates severely, please immediately turn off the power.
Pay attention to the following.
Check if the mechanism can be operated safely.
Ensure emergency stop (Power OFF) can be activated anytime while performing auto tuning, as the
motor will slightly vibrate. Besides, make sure mechanism can be operated in both directions and
implement protective measures.
Auto tuning cannot be performed on the following systems
(1) The mechanism only operates towards one direction.
(2) The motor is controlled by external brake. The brake must be disabled.
Auto tuning cannot be correctly performed on the following systems
(1) The range for motion is limited.
(2) The load is changed when auto tuning is executed.
(3) The dynamic friction of machine is too large.
(4) The stiffness of machine is low and vibration occurs during positioning.
(5) Position integration function is enabled.
(6) Set or use velocity feedforward and torque feedforward.
Items to check before performing auto tuning
(1) The main circuit power must be ON.
(2) No overtravel occurs.
(3) Must be in servo OFF state.
(4) No alarm or warning occurs.
(5) Tuneless function must be disabled (Pt170 = t.0).
(6) While performing auto tuning, the control mode must be position mode. After auto tuning
finishes, the control mode can be changed to other mode, such as velocity mode.
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