8.5 Custom Tuning
8.5.1 Outline
8-15
8.5
Custom Tuning
This section describes custom tuning.
8.5.1
Outline
You can use custom tuning to manually adjust the servo during operation using a reference
input from the host controller.
The following items are adjusted automatically.
• Gains (e.g., speed loop gain and position loop gain)
• Filters (torque reference filter and notch filters)
• Anti-resonance control
Refer to the following section for details on the parameters that are adjusted.
8.5.6 Related Parameters on page 8-23
There are two adjustment methods that you can use for custom tuning.
Tuning Mode 0 (Setting Servo Gains Giving Priority to Stability) or 1 (Setting Servo
Gains Giving Priority to Good Response)
These modes allow you to set stable control conditions for multiple servo gains by manipu-
lating only one tuning level. Automatic setting of notch filters and anti-resonance control is
provided if vibration is detected. Manual anti-resonance control adjustment is also possible
during custom tuning.
Tuning Mode 2 (Setting Servo Gains Giving Priority to Position Control Applications)
or 3 (Setting Servo Gains Giving Priority to Preventing Overshooting in Position Con-
trol Applications)
Two tuning levels are manipulated to reduce positioning time even further and set multiple
servo gains.
Model following control is used to reduce the positioning time. If vibration is detected, notch
filters and anti-resonance control are automatically adjusted. Manual anti-resonance control
adjustment and vibration suppression are also possible during custom tuning.
8.5.2
Preparations
Check the following settings before you execute custom tuning.
• The parameters must not be write prohibited.
Vibration or overshooting may occur during custom tuning. To ensure safety, make sure that
you can perform an emergency stop at any time.
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