Parker Hannifin 88-021610-01G - Manual (Page 90)

Parker Hannifin
90 Aries User Guide
Auto-Tuning
The Aries drive can automatically determine the inertia of the load attached
to the motor. This is performed by applying a specified torque to the motor
and measuring the acceleration and deceleration of the motor. From this, the
Aries drive can calculate the load inertia and store the value in the LJRAT
command.
Note: Excess friction can affect the measured inertia, thereby estimating the
value higher than the actual inertia. While the drive can compensate for
some friction, it may not compensate for all. If the estimated load inertia
seems overly high, this may be the cause.
Note: Use this method of auto-tuning only with the step and direction
versions of the Aries drive.
The Auto-Tune process should only last a few seconds, during which time
the motor will rotate about one-quarter of a turn in each direction. Following
are the two methods to start Auto-Tune mode.
► In the Aries Support Tool , select the Servo Tuner tab. Then click
Auto-Tune .
—or—
► Put the drive in position mode (DMODE6 or 7). On the drive’s ±10V
Analog Input, apply a command voltage greater than 3V, then reset the
drive.
To return to normal operation, remove the command voltage and reset
the drive.