!
3-35
3-7-2 Manually Adjusting Gain
Make sure that Cn-28 for compensation gain adjustment is set to 0 before performing
auto-tuning. This parameter is factory-set to 0.
Caution
Never make extreme changes in the setting. Doing so may cause unstable operation
or result in injury. Gradually vary the gain setting from the standard value shown be-
low and check motor operation while changing the settings.
D
Gain Adjustment Flowchart
Perform auto-tuning to match the rigid-
ity of the mechanical system.
The motor hunts when servo-locked.
(Accompanied by a hunting noise.)
Raise the rigidity selection to the value
just before hunting occurs and perform
auto-tuning.
Increase Cn-04 (speed loop gain) to a
value where hunting doesn’t occur in
servo-lock.
Decrease Cn-05 (speed loop integra-
tion time constant) to a value where
hunting doesn’t occur in servo-lock.
Does hunting (vibration) occur
when the motor is operated?
Run the motor and monitor its opera-
tion.
Increase Cn-1A (position loop gain),
but do not increase it so far that over-
shooting occurs.
Decrease the rigidity selection so
hunting doesn’t occur and perform
auto-tuning.
Decrease Cn-04 (speed loop gain).
Increase Cn-05 (speed loop integra-
tion time constant).
Increase Cn-17 (torque command filter
time constant).
HA/LA/V/W Models:
Increase Cn-28 (compensating gain).
End adjustment.
End adjustment.
Do characteristics such as positioning
time meet system specifications?
YES
NO
YES
YES
NO
NO
:
:
When vibration can’t be eliminated despite
several adjustments or positioning is too slow:
Operation
Chapter 3
