User`s manual

3-31

Operating Procedures

3. Operating Procedures

2. Set the following parameters that are required for tuning.

(A)

(B)

(D)

(C)

(E)

Note 1

Note 2

Note 3

(A) Cut-off frequency (fc) setting

Set the cut-off frequency for controlling the speed during auto-tuning. Set a

value that will not cause hunting.

(B) Initial value of tuning moment of inertia

Set the moment of inertia at start of auto-tuning. Tuning will end quickly if

setting this to a value that you know will roughly match the moment of inertia.

If you do not know this value then leave the setting as is. The auto-tuning

function will estimate the moment of inertia.

Note 1: When "Linear Motor" is selected, the edit box label is "=m" and the

units are "kg×10".

Enter the speed to use for auto-tuning. If you are sure that the default value does

not damage the system including the robot, you can use the default setting.

Note 2: When "Linear Motor" is selected, the edit box label is "Tuning speed"

and the units are "mm/s".

(D) Acceleration/deceleration time

Set an acceleration/deceleration time for pattern operation during auto-tuning. If

you are sure that the default value does not damage the system including the

robot, you can use the default setting.

(E) Moving range

Displays a general guide for the rotation (distance) amount during auto-tuning.

Use the displayed value only for a general guide. Perform the operation at a

position where no interference or collision occurs during tuning.

Note 3: When "Linear Motor" is selected, the units are "mm".