7-16
7-5 Manual Tuning
7
Adjustment Functions
Basic Adjustment Procedures
Adjustment in Position Control Mode
Change to Parameter Write Mode, and write to EEPROM.
Start adjustment
Yes
No
Adjustment completed
Disable realtime autotuning. (Pn21 = 0 or 7)
Set the parameters to the values shown in table 1.
Set the Inertia Ratio (Pn20). (Calculated value at Servomotor selection.)
Run under actual operating pattern and load.
Positioning time and other operational performance satisfactory?
Adjustment completed
Increase the Speed Loop Gain (Pn11),
but not so much that it causes hunting when the servo is locked.
Reduce the Speed Loop Integration Time Constant (Pn12),
but not so much that it causes hunting when the servo is locked.
Any hunting (vibration) when the Servomotor rotates?
No
Reduce the Speed Loop Gain (Pn11)
Increase the Speed Loop Integration
Time Constant (Pn12)
Increase the Position Loop Gain (Pn10),
but not so much that it causes overshooting.
Yes
If vibration does not stop no matter how many
times you perform adjustments, or if positioning
is slow:
Increase the Torque Command Filter Time
Constant (Pn14).
Do not perform extreme
adjustment and setting changes.
They may destabilize operation,
possibly resulting in injury.
Adjust the gain a little at a time
while checking the Servomotor
operation.
