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6. GENERAL GAIN ADJUSTMENT
6. GENERAL GAIN ADJUSTMENT
POINT
When using in the internal torque control mode, gain adjustment is not
necessary.
When making gain adjustment, check that the machine is not operated at the
maximum torque of the servo motor. The operation at the maximum torque or
more may cause unexpected operations such as machine vibration, etc.
Consider individual machine differences, and do not adjust gain too strictly. It is
recommended to keep the servo motor torque to 90% or less of the maximum
torque of the servo motor during the operation.
6.1 One-touch tuning
Just by pressing the "AUTO" button on the front panel of the servo amplifier, the gain/filter is easily adjusted.
The following parameters are automatically adjusted by the one-touch tuning.
Parameter No. Symbol Name
PA08 ATU Auto tuning mode
PA09 RSP Auto tuning response
PB03 PST
Position command acceleration/ deceleration time constant (Position
smoothing)
PB07 PG1 Model loop gain
PB12 OVA Overshoot amount compensation
PB13 NH1 Machine resonance suppression filter 1
PB14 NHQ1 Notch shape selection 1
PB15 NH2 Machine resonance suppression filter 2
PB16 NHQ2 Notch shape selection 2
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