3.2 Operations
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Utility Function Mode
3.2.29 One-parameter Tuning (Fn203)
This function is used to manually make tuning level adjustments during operation
with a position reference or speed reference input from the host controller.
This function enables automatically setting related servo gain settings to balanced
conditions by adjusting one or two tuning levels.
One-parameter tuning performs the following adjustments.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
(1) Preparation
The following conditions must be met to perform the one-parameter tuning.
The message “NO-OP” indicating that the settings are not appropriate will be dis-
played, if all of the following conditions are not met.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• The write prohibited setting (Fn010) must not be set to write-protect parameters.
• The tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.
CAUTION
• Vibration or overshooting may occur during adjustment. To ensure safety, perform
one-parameter tuning in a state where the SERVOPACK can come to an emer-
gency stop at any time.
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