Chapter 5
Servo operating
Chapter 4 explains the servo using method and gain adjustment by each control mode.
Chapter 4. Servo using method and Gain adjustment
4.1. Gain adjustment method for speed control mode ................... 4-1
4.1.1. CN1 wiring diagram for speed control servo .......................... 4-2
4.1.2. Speed servo gain adjustment ................................................. 4-3
4.2. Gain adjustment method for position control mode ............... 4-7
4.2.1. CN1 wiring diagram for position control servo ........................ 4-8
4.2.2. Position servo gain adjustment .............................................. 4-9
4.3. Gain adjustment method for torque control mode ................ 4-15
4.3.1. CN1 wiring diagram for torque control servo ........................ 4-16
4.3.2. Gain adjustment of torque servo .......................................... 4-17
4.4. Auto-tuning ............................................................................... 4-18
4.4.1. System response setting ...................................................... 4-18
4.4.2. Auto-tuning setting sequence ............................................... 4-19
4.4.3. Precaution during Auto-tuning .............................................. 4-20
4.5. Important Points of Gain Adjustment ..................................... 4-20
4.6. Precaution for absolute encoder ............................................ 4-23
4.6.1. Battery handling ................................................................... 4-23
4.6.2. Absolute value encoder initialization .................................... 4-25
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