8.1 Autotuning
8-3
8.1 Autotuning
8.1.1 Servo Gain Adjustment Methods
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions. The following flowchart shows an overview procedure for adjusting the servo gains to
reduce the positioning time for position control. Follow this flowchart to effectively adjust the servo gains. For
functions in bold lines in the flowchart, select the adjustment method according to the client’s intent using 8.1.2
List of Servo Adjustment Functions.
If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods,
consider the following possible causes.
• Autotuning does not suit the operating conditions.⇒Adjust gain with manual adjustments (Refer to 8.5
Manual Tuning)
• The selection of settings for the positioning time reduction functions or vibration reduction functions are
not appropriate.
⇒ The result of each function may differ depending on the machine characteristics and operation
condtions.
Consider using other positioning and vibration reduction functions.
Start adjusting servo gain.
Adjusting using (1) Autotuning Functions.
Results OK?
Adjust using (2) Positioning Time Reduction Functions.
Results OK?
Results insufficient.
Adjust using (3) Vibration Reduction Functions.
Results insufficient.
Results insufficient.
Vibration resulted
Results OK?
End servo gain adjustment.
Results OK.
Results OK.
Results OK.
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