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3-3 OFF-LINE Auto tuning
OFF-Line Auto tuning could automatic measuring the load characteristics and adjusts the appropriate
control gain in a fixed-action stroke. Gain adjustment method based on the vibration detection, and the rigid
table as a basis for the adjustment. In order to find the system gain limit, the machine would increase the
gain until the system start to vibration, and then reduced the gain to be stable.
OFF-Line automatic gain adjustment limitation:
(1) The turns need to more than 3 runs.
(2) the torque need to higher than the rated torque
(3) The inertia ratio and the external force could not change too intense.
(4) The function of tuning only can use in position mode(cn01 = 2)
The parameters of automatic gain adjustment for OFF-LINE Tuning
Parameter Name Default Unit
Setting
Range
Control
Mode
Cn059
AutoTuning function choice
0 __ 0 ~ 3
Pe
Pi
Setting Explanation
0 Disable AutoTuning
1 Enable OFFLine-AutoTuning
Cn060
The turns command of
OFFLine-tuning
3 rev
0 ~
1024
Pe
Pi
EX：When you set10 means the tuning
command would finished in 10 turns.
Cn061
The Maximum speed OFFLine-tuning
Rated
speed
x2/3
rpm
1/3~ 2/3
x Rated
speed
Pe
Pi
The Maximum speed OFFLine-tuning
Cn062
OFFLine-tuning operation overtravel
distance protection settings
50 0.01rev
50 ~
300
ALL
When Cn60 is 3 and Cn62 is 50 means
the distance protection is 3.5 runs
(Cn60+Cn62*0.01). When over 3.5 runs
it would stop in emergency.
Un45
Inertia Estimation for
OnLine_AutoTuning
─ X0.1 ─ ─
Un46
Status for OFFLine_Tuning
─ ─ ─ ─
Un47
The error code for OFFLine_Tuning
─ ─ ─ ─
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