User`s manual

Operating Procedures

3-32

3. Operating Procedures

3. Click the [Continuous pattern tuning start] button.

4. Check safety conditions and then turn on the FOT and ROT terminals, and turn on

the SON terminal. This starts continuous pattern operation and estimates the

moment of inertia.

Note: When a PHASER series robot is used, magnetic pole position finding must

be performed before this operation. For information on magnetic pole

position finding, refer to the separate "YAMAHA Single-Axis Robot Driver

RD Series" user's manual.

5. After estimating the moment of inertia, the last pattern operation waveforms are

downloaded from the robot driver and the estimated results displayed as shown

below.

6. After tuning ends, turn the SON terminal off, and turn the RS terminal on and then

off, to exit the auto-tuning mode.

Note 1: This function automatically rewrites the "Moment of inertia" (Fd-00)

parameter.

Read the parameters from the robot driver again if the "Parameter setting"

window is open.

Note 2: Even when tuning is interrupted before it is complete, turn the SON

terminal off, and turn the RS terminal on and then off, to exit the auto-

tuning mode.