User`s manual

5-33

Functions

5. Functions

2. When tuning ends, turn the SON terminal off, and turn the RS terminal on and then

off, to exit the auto-tuning mode.

Note 1: The tuning might not end normally if the accel/decel torque is less than 10 [%]

of the rated torque. If that happens, use the TOP software for RD series to set

the default value 0.05[s] for the accel/decel time to a smaller value.

Also, if a tuning error occurred, then each gain value returns to the value

prior to tuning. No alarm will trip unless there is an abnormal condition, so

be aware of the need for safety especially during resonance.

Note 2: If you did not turn the RS terminal on and then off in step 2 above after

turning ended, then set the "Auto-tuning mode" (FA-10) to "non".

5.10.2 Offline auto-tuning using the TOP software

The TOP (software for RD series) allows you to run fully automatic offline auto-tuning or

run one at a time while checking each result. A brief description is given below. For

detailed information, refer to the TOP software user's manual.

The following parameter settings are required for auto-tuning.

(a) Cut-off frequency setting

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

value that will not cause hunting.

Note 1: In the case of a large load, the robot might cause hunting unless this

parameter is set small.

(b) Initial value of tuning mover mass

Set the mover mass at start of auto-tuning. Tuning will end quickly if setting this

to a value that you know will roughly match the mover mass. If you do not

know this value then leave the setting as is. The auto-tuning function will

estimate the mover mass.

Enter the speed to use for auto-tuning. Enter a speed that will not damage the

machine connected to the robot. If the speed is low then the tuning may fail.

Set it to a higher speed at a level that will not damage the machine.

(d) Accel/decel time

Set an initial value for accel/decel time for pattern operation during auto-

tuning.Set this value to a small value if the accel/decel torque is less than 10%

of the rated torque. (Refer to the torque data shown on the display during

pattern operation.)

(1) Procedure for fully automatic offline auto-tuning

1. Click the [Test run and Adjustment] button on the opening screen.

Click the [Offline tuning] tab on the screen that appears.

2. Set the parameters that are required for auto-tuning.