3-32
3-7
Making Adjustments
3-7-1 Auto-tuning
Auto-tuning rotates the Servomotor with a load connected (mechanical system), and au-
tomatically adjusts the position loop gain, the speed loop gain, and the speed loop in-
tegration time constant. When adjustments cannot be made by auto-tuning, refer to
3-7-2 Manually Adjusting Gain.
H
Executing Auto-tuning
Make sure that Cn-28 for compensation gain adjustment is set to 0 before performing auto-tuning. Prop-
er gain adjustment may not be possible with auto-tuning if the parameter is not set to 0. This parameter
is factory-set to 0.
c
c n - 0 0
0 0 - 0 5
[1]
[2]
[6]
[4]
Data
[3]
- 0 0 1
t U n
[5]
e n d
DATA
Indicates settings mode.
System check mode
Auto-tuning display
Auto-tuning end display
1. Confirm that the initial display is shown (–. bb).
2. Press the MODE/SET Key to enter the settings mode.
3. Using the Up and Down Keys, set parameter number “00.” (System check mode)
4. Press the DATA Key to display the setting of Cn-00.
5. Using the Up and Down Keys, set the parameter to “05.” (Auto-tuning)
6. Press the MODE/SET Key to switch to the mechanical rigidity selection display.
7. Using the Up and Down Keys, adjust the rigidity to the mechanical system.(Refer to
Selecting Me
-
chanical Rigidity below.)
8. Press the MODE/SET Key to switch to the auto-tuning display.
Operation
Chapter 3
