4
Inspection prior to Test Run ................................................................................................................... 110
Test Run with Connector CN X5 Connected.......................................................................................... 111
Real time Auto Gain Tuning.............................................................................. 114
Outline ................................................................................................................................................... 114
Scope..................................................................................................................................................... 114
Operating Instruction ............................................................................................................................. 114
Parameters to be Set Automatically....................................................................................................... 115
Cautions................................................................................................................................................. 115
Parameter Setting.............................................................................................. 116
Parameter for Selection of Functions .................................................................................................... 116
Parameters for Adjustment of Time Constants of Gains/Filters ............................................................. 119
Parameters for Auto Gain Tuning .......................................................................................................... 120
Parameters for Position Control.............................................................................................................121
Parameters for Internal Velocity Control ................................................................................................ 122
Parameters for Torque Limits.................................................................................................................123
Parameters for Sequences ....................................................................................................................123
[Adjustment] Page
Gain Adjustment................................................................................................ 128
Objective of Gain Adjustment ................................................................................................................128
Types of Gain Adjustment......................................................................................................................128
Procedures of Gain Adjustment .............................................................................................................129
Real time Auto Gain Tuning.............................................................................. 130
Normal Auto Gain Tuning ................................................................................. 132
Cancellation of the Automatic Gain Tuning ....................................................135
Manual Gain Tuning (Basic) ............................................................................. 136
Manual Gain Tuning (Application) ................................................................... 138
Gain Switching Function ........................................................................................................................138
To Reduce Mechanical Resonance .......................................................................................................140
Anti-Vibration Control.............................................................................................................................142
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