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 automatically setting related servo gain settings to balanced conditions by
adjusting one or two autotuning 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
Refer to 6.5.4 Related Parameters for parameters used for adjustments.
Perform one-parameter tuning if satisfactory responsiveness is not obtained with advanced autotuning or
advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 6.8 Additional Adjustment Function.
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.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
one-parameter tuning is performed. If the setting greatly differs from the actual moment of inertia ratio, nor-
mal control of the SERVOPACK may not be possible, and vibration may result.
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