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6. NORM AL GAIN ADJ USTMENT 6 - 10 (2) Response mode sel ection Select a res ponse mode fr om 3 mod es in the one-t ouc h tuning wi ndow of MR Con figurator2. Table 6.2 Respo nse mode ex planat ions Response mode Explana…
6. NORMAL GAIN ADJUSTMENT
6 - 9
(b) Amplifier command method
Input a permissible travel distance. Input it in the load-side resolution unit for the fully closed loop
control mode, and in the servo motor-side resolution unit for other control modes. In the amplifier
command method, the servo motor will be operated in a range between "current value ± permissible
travel distance". Input the permissible travel distance as large as possible within a range that the
movable part does not collide against the machine. Inputting a small permissible travel distance
decreases the possibility that the moving part will collide against the machine. However, the
estimation accuracy of the load to motor inertia ratio may be lower, resulting in improper tuning.
Also, executing the one-touch tuning in the amplifier command method will generate a command for
the following optimum tuning inside the servo amplifier to start the tuning.
Servo motor
speed
Servo motor
speed (Note)
Forward
rotation
0 r/min
Reverse
rotation
Dwell time (Note)
Deceleration
time constant
(Note)
Travel distance (Note)
Acceleration
time constant
(Note)
Note. It will be automaticall
y
g
enerated in the servo amplifier.
Fig. 6.2 Command generated by one-touch tuning in the amplifier command method
Item Description
Travel distance
An optimum travel distance will be automatically set in the range not exceeding the user-inputted permissible
travel distance with MR Configurator2.
Servo motor speed
A speed not exceeding 1/2 of the rated speed and overspeed alarm detection level ([Pr. PC08]) will be
automatically set.
Acceleration time
constant
Deceleration time
constant
An acceleration time constant/deceleration time constant will be automatically set so as not to exceed 60% of the
rated torque and the torque limit value set at the start of one-touch tuning in the amplifier command method.
Dwell time A dwell time in which the one-touch tuning error "C004" does not occur will be automatically set.
6. NORMAL GAIN ADJUSTMENT
6 - 10
(2) Response mode selection
Select a response mode from 3 modes in the one-touch tuning window of MR Configurator2.
Table 6.2 Response mode explanations
Response mode Explanation
High mode This mode is for high-rigid system.
Basic mode This mode is for standard system.
Low mode This mode is for low-rigid system.
6. NORMAL GAIN ADJUSTMENT
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Refer to the following table for selecting a response mode.
Table 6.3 Guideline for response mode
Response mode
Response
Machine characteristic
Low mode Basic mode High mode Guideline of corresponding machine
Low response
General machine
tool conveyor
Arm robot
Precision working
machine
Inserter
Mounter
Bonder
High response
(3) One-touch tuning execution
POINT
For equipment in which overshoot during one-touch tuning is in the permissible
level of the in-position range, changing the value of [Pr. PA25 One-touch tuning
overshoot permissible level] will shorten the settling time and improve the
response.
When executing one-touch tuning in the amplifier command method, turn on
EM2. When you turn off EM2 during one-touch tuning, "C008" will be displayed
at status in error code, and the one-touch tuning will be canceled.
When executing the one-touch tuning in the amplifier command method, FLS
(Upper stroke limit) and RLS (Lower stroke limit) will be disabled. Thus, set a
permissible travel distance within a range where moving part collision never
occurs, or execute the one-touch tuning in a state in which the servo motor can
immediately stop in emergency.
When one-touch tuning is executed in the amplifier command method while
magnetic pole detection is not being performed, magnetic pole detection will be
performed, and then one-touch tuning will start after the magnetic pole detection
is completed.
After the response mode is selected in (2) in this section, clicking "start" will start one-touch tuning. If
"start" is clicked while the servo motor stops, "C002" or "C004" will be displayed at status in error code.
(Refer to (5) in this section for error codes.)
Click "Start" with the amplifier command method selected in the servo-off, the servo-on will be
automatically enabled, and the one-touch tuning will start. In the one-touch tuning by the amplifier
command method, an optimum tuning command will be generated in the servo amplifier after servo-on.
Then, the servo motor will reciprocate, and the one-touch tuning will be executed. After the tuning is
completed or canceled, the servo amplifier will be the servo-off status. When the servo-on command is
inputted from outside, the amplifier will be the servo-on status.