148Set up the torque limit selection (SV.Pr03) to 1.When you set up other than 1, driver may not act correctly.CautionNormal mode auto-gain tuning may not be work properly under the following conditions. In these cases, setup in manual gain tuning• Tuning error will be triggered when an error, Servo-OFF, the main power shutdown, validation of over-travel inhibition, or deviation counter clear occurs during the normal mode auto-gain tuning.• If the load inertia cannot be calculated even though the normal mode auto-gain tuning is executed, gainvalue will not change and be kept as same as that of before the execution.• The motor output torque during the normal auto-gain tuning is permitted to the max. torque set with SV.Pr5E(Setup of torque limit).• Please note that each signal of the CW over-travel inhibit input, CCW over-travel inhibit input, emergencystop, deceleration-and-stop and temporary stop is ignored.Pay an extra attention to the safety. When oscillation occurs, shut off the main power or turn to Servo-OFF immediately. Bring back the gain to default with parameter setup. Refer to cautions of P.95,"Auto-Gain Tuning Mode" of Setting as well.Normal Mode Auto-Gain TuningControl mode OthersConditions under which the normal mode auto-gain tuning is activatedApplies to all control modes. • Servo-ON statusPosition commandMotor torqueServo driverPosition commandLoad inertia calculationGeneration of internal positional commandCurrent controlMotor currentMotor speedPosition/Velocity ControlGain auto- adjust Torque commandMotor EncoderNormal mode auto-gain tuning Load inertia LoadConditions which obstruct normal auto-gain tuning• Too small or too big compared to the rotor inertia (smaller than 3 times or larger than 20 times) • Load inertia varies. • Machine stiffness is extremely low. • Chattering such as backlash exists.OutlineThe motor will be driven per the command with a pat-tern generated by the driver automatically. The driverestimates the load inertia from the necessary torque,and sets up an appropriate gain automatically.Applicable RangeThis function works under the following condition.
