User`s manual

Operating Procedures
3
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3. Operating Procedures
3.5.2 Offline tuning
The total inertia including motor inertia can be approximately calculated in offline mode.
Use the following procedures to run offline tuning.
Note 1: The robot driver parameters are factory set to ensure that the robot operates
normally. Use of this function is not required except in cases where robot
follow-up response is poor, where operation is abnormal, or when adjusting
the parameter data.
Note 2: When this function is executed, the moment of inertia (weight of moving
part) Fd-00 value is automatically changed.
Therefore, be sure to save the parameter data before performing this
function. For the data save procedure, see section 3.3.4, "Saving the
parameters".
Note 3: When a PHASER series robot is used, the correct inertia value cannot be
estimated unless the magnetic pole position is determined. For instructions
on how to determine the magnetic pole position, refer to section 5.4,
"Return-to-origin function", in the separate "YAMAHA Single-Axis Robot
Driver RD Series" user's manual.
(1) Procedure for fully automatic offline tuning
1. Click the [Test run and Adjustment] button on the opening screen.
The "Test run and Adjustment" window appears as shown below.
Click the [Offline tuning] tab.
Click this button to
start test run and
adjustment mode.
[Offline tuning] tab