User`s manual

Operating Procedures

3-34

3. Operating Procedures

(A)

(B)

(D)

(C)

(E)

Note 1

Note 2

Note 3

3. Click the [1 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 1-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.