Chapter 4 Configuring the Joint Parameters
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(8) In the dialog box shown below, confirm the conditions and press OK. In the
confirmation window, press OK. Then auto gain tuning will start.
The motor rotates in CCW and CW directions alternately two times each
direction in two sequences to calculate a temporary servo loop gain.
After that, the motor will repeat the sequence up to 8 times to fine-tune the gain.
If the gain is fixed within the eight sequences, auto gain tuning will complete.
Caution: For a boundless rotation joint, CALSET needs to be performed
after each auto gain tuning, which deletes CALSET values.
(9) After eight sequences of the above fine tuning operation, any of the following
messages may display:
"Auto gain tuning warning 1": Overshoot found at the end of motion.
"Auto gain tuning warning 2": Slow settlement found at the end of motion.
"Auto gain tuning warning 3": Low-level oscillation found during motion.
If any of the above messages displays but there is no problem with the joint
motion, then finish the gain tuning. If any abnormal noise or vibration is noted
and there are some problems with the motion, then change the mechanical
rigidity. After that, retry auto gain tuning or proceed to manual gain tuning.
(10) If you set higher mechanical rigidity for transmission mechanism having lower
rigidity and vise versa, then an error may occur during auto gain tuning. Change
the mechanical rigidity setting and retry auto gain tuning.
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