User manual

9 Functions and operations in the position control mode
−66−
P-REQ input
ON
OFF
ON
OFF
ON
OFF
ON
OFF
P-CK input
P-OUTR output
2 ms or less
∗2 ∗4
∗1 ∗3 ∗5
∗6
∗7
P-OUT0 output
P-OUT1 output
Once Twice
3 times
27 times 28 times
∗1 The driver turns the P-OUTR output ON within 2 ms of the ON edge of the P-REQ input.
∗2 The programmable controller turns the P-CK input ON after confirming that the P-OUTR output has turned
ON.
∗3 After confirming that the P-CK input has turned ON, the driver sets upper 2 bits of the data to be sent in the
P-OUT0 output and P-OUT1 output, and then turns the P-OUTR output OFF.
∗4 After confirming that the P-OUTR output has turned OFF, the programmable controller receives the P-OUT0
output and P-OUT1 output and then turns the P-CK input OFF.
∗5 The driver turns the P-OUTR output ON after confirming that the P-CK input has turned OFF. Steps
∗2 to ∗5
are repeated 28 times hereafter.
∗6 Once 56 bits of data have been received, the programmable controller turns the P-REQ input OFF.
∗7 The driver assigns the P-OUTR output to the READY output after confirming that the P-REQ input has turned
OFF.
If the P-REQ input turns OFF before the transmission is complete, the driver interrupts the transmission, assigns
the signal again, and then turns the P-OUTR output OFF.
9.7 Gain tuning
The motor compliance with respect to commands can be adjusted according to the load inertia and
mechanical rigidity.
You can also tune the motor in the semi-auto or manual mode in situations where the positioning time must be
shortened, or when automatic tuning is difficult due to a large or fluctuating load inertial moment.

Selecting the tuning mode
Gain tuning can be performed in three modes. Select a desired tuning mode using the application parameter
for gain tuning mode selection [APP-0-00]. Automatic tuning supports an adjustment range of up to 50 times
the rotor inertia moment, while manual tuning supports an adjustment range of up to 100 times.
Automatic: The load inertial moment is estimated internally by the driver. Simply set the mechanical rigidity
and the gain will be adjusted automatically.
Semi-auto: Set the mechanical rigidity and load inertial moment ratio, and the gain will be adjusted
automatically.
Manual: The customer must set the gain directly. Select this mode when the load inertia is large or the
response needs to be increased above the level achievable by automatic tuning.
Related parameters
The parameters that can be set vary depending on the tuning mode.
Parameter name Automatic Semi-auto Manual
Load inertial moment ratio [APP-0-01] −  
Mechanical rigidity setting [APP-0-02]   
Position loop gain [APP-0-03] − − 
Speed loop gain [APP-0-04] − − 
Speed loop integral time constant [APP-0-05] − − 
Speed feed-forward rate [APP-0-06] − − 