Chapter 5 Trial Operation and TuningASDA-A2R SeriesRevision December, 2014 5-155.6.3 Flowchart of Auto TuningDescription of Auto Tuning:Set P2-32 to 1. Continue to estimate the system inertia. Automatically save the value inP1-37 every 30 minutes and refer the stiffness and bandwidth setting of P2-31. Increasethe value of P2-31 to increase stiffness or decrease to reduce the noise. Continue to tuneuntil the performance is satisfied. Then, tuning is completed.P2-31Stiffness setting in auto tuning mode (The default value is 80), the bigger the valueis, the stronger the stiffness will be.In auto and semi-auto mode, the bandwidth setting of speed circuit is:1~50Hz: low-stiffness, low-response51~250Hz: medium-stiffness, medium-response251~850Hz: high-stiffness, high-response851~1000Hz: extremely high-stiffness, extremely high-responseServo off. Set P2-32 to 1. Then, Servo on.Set P0-02 to 15. The panelwill display inertia ratio.Alternately accelerate anddecelerate.Anyresonance?Satisfactoryperformance?High responseis required?Increase the value of P2-31to increase the response andstiffness.Tuningcompleted.1. Decrease the value of P2-31 to reduce thenoise.2. If not decrease the value of P2-31, thenadjust the value of P2-23 and P2-24 tosuppress the resonance.(Please refer to Chapter 5.6.6)YesNoYesNoYesNoNote: Inertia ratio is for rotary motor; while total weight of movable section and load (kg) is for linear motor
