4. Servo using method and gain adjustment
4-18
4.4.2 Autotuning setting sequence
Manually adjust system response
(P02-18)
Test operation with basic setting
Repeated acceleration/deceleration
operation (*) (500rmp or above)
Operation
OK ?
Does load inertia
change ?
Turn ON on-line tuning mode
(P02-17)
No
Yes
No
Operation
OK ?
Yes
No
Turn OFF autotuning mode
Manually adjust load inertia (P02-19)
END
Save tuning result
(P02-19)
Yes
START
♥ Autotuning is set by system response setting (P02-18) manual part, by position loop gain,
speed control loop gain, SC TC and torque command filter and the system inertia ratio
(P02-19) is set by the autotuning mode (P02-17).
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