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3-23
3-7-2 Manually Adjusting Gain
Gain Adjustment Flowchart
Caution
Do not make large adjustments. Doing so will result in unstable operation and may
lead to injury. Based on the
Gain Adjustment Standards below, change settings a
little at a time while checking motor operation.
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).
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
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