User`s manual

Functions
5
5-32
5. Functions
Calculating the robot axis rotation during offline auto-tuning
If the tuning speed is Va [min
-1
] and the accel/decel time is
Δ
t [s], then the robot axis
rotation, S, can be calculated by the following formula.
$t
60
3·Va
S=
×
Calculated examples are shown in the
following table. Set an ample drive range for
the values in the table.
The tuning speed and accel/decel time differ
depending on whether operated by the digital
operator or using the TOP software as shown
next.
Calculated example of robot axis rotation
during offline auto-tuning
Tuning speed
Va [min
-1
]
Accel/decel
time
Δ
t [s]
Robot axis
rotation S
[rotation]
500
0.05
0.1
1.25
2.5
1000
0.05
0.1
2.5
5.0
1500
0.05
0.1
3.75
7.5
Tuning speed and accel/decel time for off-line auto-tuning
Tuning speed Va (min
-1
) Accel/decel time
Δ
t(s)
Digital operator 1000 (fixed) 0.05 (fixed)
TOP software Adjustable Adjustable
Note: The accel/decel time during offline auto-tuning is the time required to reach
the tuning speed from 0 or slow down to 0 from the tuning speed.
(3) Offline auto-tuning sequence
1. To run offline auto-tuning, select "offline auto-tuning" (oFL) on the "Auto-tuning"
(FA-10) parameter, and after writing the value, turn the servo on.
Select "auto-tuning (oFL)"
and write the value.
(FA-10)
Tuning starts. (Auto)
Auto-tuning ends (End)
Error occurred (Err)
End
(a) When auto-tuning ends normally:
The estimated momentum of inertia is written in Fd-00.
(b) When an auto-tuning error occurs:
If any of the following events occurred, then a tuning error results.
• An error/abnormality occurred
• The SON terminal turned off during tuning.
• Resonance or similar phenomenon occurred so auto-tuning could not be
performed correctly.