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6.5 One-parameter Tuning (Fn203)
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6.5 One-parameter Tuning (Fn203)
Adjustments with one-parameter tuning are described below.
6.5.1 One-parameter Tuning
One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref-
erence or speed reference input
from the host controller.
One-parameter tuning enables automaticall
y 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 (force reference filter and notch filter)
• Friction compensation
• Anti-resonance control
Refer to 6.5.4 Related Parameters for parameters used for adjustments.
Perform one-parameter tuning if satisfactory response characteris
tics is not obtained with advanced autotun-
ing or advanced autotuning by reference.
To fine-tune each servo gain after
one-parameter tuning, refer to 6.8 Additional Adjustment Function.
(1) Preparation
Check the following settings before performing one-parameter tuning.
The message “NO-OP” indicating that the settings are not appr
opriate will be displayed, 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 parameter (Fn010)
must be set to Write permitted (P.0000).
• 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 emergency stop at any time.
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