R88A-CNG01R Omron, R88A-CNG01R Datasheet - Page 423

• Manufacturer Part Number: R88A-CNG01R
• Description: Encoder Connector ABS Motor
• Manufacturer: Omron

Specifications of R88A-CNG01R

• Lead Free Status / Rohs Status: Lead free / RoHS Compliant

7-3 Normal Mode Autotuning
Normal mode autotuning operates the Servomotor according to command patterns automatically
created in the Servo Drive, then estimates the load inertia based on the torque required at that time
and automatically sets the appropriate gain.
Note Set the Torque Limit Selection (Pn03) to 1. Operation may be incorrect if the setting is not 1.
• Normal mode autotuning may not function properly under the conditions described in the following
Note 1. A tuning error will occur if an error occurs, the servo turns OFF, the main power supply is
Note 2. If normal mode autotuning is executed, and the load inertia cannot be estimated, the gain
Note 3. When normal mode autotuning is being executed, the Servomotor output torque can be
Note 4. Take sufficient care to ensure safety. If vibration occurs, immediately turn OFF the power
table. If normal mode autotuning does not function properly, use manual tuning.
Control mode
Precautions
for Correct Use
Load inertia
Others
Load
turned OFF, drive prohibit is enabled, or a deviation counter reset occurs while normal mode
autotuning is in operation.
will remain the same as it was before normal mode autotuning.
output to the maximum set in the No. 1 Torque Limit (Pn5E) parameter.
supply or the servo and return the gain to the default by using the parameter settings.
Position command
All control modes can be used.
• The servo is ON.
• The deviation counter reset signal is not input.
• If the load inertia is too small or too large compared with the rotor inertia (i.e., less
• If the load inertia changes.
• If the machine rigidity is extremely low.
• If there is backlash or play in the system.
Internal
position
command
generation
Conditions under which normal mode autotuning does not function properly
than 3 times, more than 20 times, or more than the applicable load inertia ratio).
• Normal mode autotuning operates under the following conditions.
Conditions under which normal mode autotuning operates
Normal mode autotuning
Estimated load
inertia
speed control
Servomotor torque
Position/
Servo Drive
Automatic
gain
adjustment
Torque
com-
mand
Current
control
Motor acceleration
7-3 Normal Mode Autotuning
Servo-
motor
current
Servo-
motor
speed
Encoder
Servo-
motor
7-14
7