Write to the EEPROM in the Parameter Write Mode.
Start adjustment.
Ye s
No
Adjustment completed.
Set the realtime autotuning to disabled (Pn002 = 0)
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
Adjustment completed.
Increase Speed Loop Gain (Pn101) to the extent
that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant (Pn102) to the extent
that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor rotates?
No
Decrease Speed Loop Gain (Pn101).
Increase Speed Loop Integral Time Constant (Pn102).
Increase position loop gain to the extent
that overshooting does not occur.
Ye s
If vibration persists after repeated adjustments
or the positioning is slow:
Increase Torque Command Filter Time Constant (Pn104).
Never adjust or set parameters to extreme values,
because it will make the operation unstable.
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the
gain while checking the motor operation.
Set the damping frequency in the
Notch 1 Frequency Setting (Pn201),
Notch 2 Frequency Setting (Pn204),
Notch 3 Frequency Setting (Pn207) or
Notch 4 Frequency Setting (Pn210).
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