Chapter 4 Running and Commissioning IS620P User Manual
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The related function code is set in the following table.
Function
Code
Parameter Name Setting Range Unit Default
Effective
Time
Property
Control
Mode
H09 05
Ofine inertia
auto-tuning mode
0: Positive and
negative triangular
wave mode
1: Jog mode
- 0 Immediate At stop PST
H09 06
Maximum speed
for inertia auto-
tuning
100–1000 rpm 500 Immediate At stop PST
H09 07
Time constant of
accelerating to
max. speed for
inertia auto-tuning
20–800 ms 125 Immediate At stop PST
H09 08
Interval after an
inertia auto-tuning
50–10000 ms 800 Immediate At stop PST
H09 09
Motor revolutions
for an inertia auto-
tuning
0.00–2.00 Rev - - At display PST
The conditions for successful inertia auto-tuning are as follows:
•
The actual maximum speed of the motor is larger than 150 RPM.
•
The actual acceleration rate during acceleration/deceleration is higher than 3000 rpm/s.
•
The load torque is stable without dramatic change.
•
A maximum of 120 times of inertia can be auto-tuned.
•
The auto-tuning may fail when the mechanical rigidity is very low or the back clearance of
the transmission mechanism is large.
4.5.2 Automatic Gain Adjustment
The automatic gain adjustment is performed as follows:
Set H09-00 to 1, and send a reference to make the servo motor rotate. Observe the running
and meanwhile adjust the setting of H09-01 until the satisfactory effect is achieved. If the effect
is unsatisfactory anyway, perform manual gain adjustment.
Pay attention to the following aspects during automatic gain adjustment:
•
When the rigid table is valid, H08-00, H08-01, H08-02, and H07-05 are set automatically
based on the rigidity level in H09-01, and the manual setting of these four parameters are
invalid.
•
When the rigidity level is increased, resonance may occur. Use a notch to suppress the
resonance (see section 4.5.4).
•
Increase the rigidity level gradually to prevent vibration due to abrupt increase of the
rigidity level.
•
Check whether there is margin for the gain to prevent the situation in which the servo
system approaches the unstable state.
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