User`s manual

5-31

Functions

5. Functions

(2) Offline auto-tuning operation

1. Turning on the FOT and ROT terminals, and then turning on the SON terminal

starts the auto-tuning. The LED indicator on the robot driver shows "Auto".

2. The robot accelerates and decelerates while moving in both the forward and reverse

directions at tuning run speed, centering around the point where auto-tuning

started. This movement is 1 cycle and is repeated to a maximum of 10 cycles. (See

figure below.) The default setting for the tuning run speed is 1000 [min

-1

]. This

setting can be changed on the TOP software for RD series.

3. Depending on the load condition, the acceleration/deceleration time might be

changed or the operation might terminate before 10 cycles are completed.

4. When auto-tuning ends, the estimated mover mass is written into Fd-00. If auto-

tuning ends correctly, then the LED indicator on the robot driver shows "End".

5. After auto-turning is complete, turn the RS terminal on and then off, to exit auto-

tuning mode.

Positive

Negative

Speed

1 cycle

Maximum 10 cycles

Time

Operation pattern during off-line auto-tuning

Note 1: This function cannot be used unless the following conditions are met.

• The acceleration/deceleration torque must be 10% or more of the rated

torque.

• Machine must have high rigidity including the robot and coupling.

• Must have little backlash from gears, etc.

• Must be a task where there are no safety problems even if oscillation occurs

and there is no damage to equipment.

• Auto-tuning can be used with a machine whose mover mass for the load is

less than 20 times the robot unit. If the mover mass of the machine is more

than 20 times then adjust the gain manually.

(See sections 5.9.1 to 5.9.3 in this chapter for information on manual

adjustments.)

• If the tuning speed was set to a low value then set it to a large value within

a range that will not damage the machine.

• Establish an ample drive range in both the forward and reverse directions.

The drive range during turning is shown next.