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Operation
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.)
NO
Raise the rigidity selection to the value
just before hunting occurs and perform
auto-tuning.
Do characteristics such as positioning
time meet system specifications?
NO
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?
NO
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.
End adjustment.
YES
Decrease the rigidity selection so
hunting doesn't occur and perform
auto-tuning.
YES
:
YES
Decrease Cn-04 (speed loop gain).
Increase Cn-05 (speed loop integra-
tion time constant).
: When vibration can't be eliminated despite
several adjustments or positioning is too slow:
Increase Cn-17 (torque command filter
time constant).
HA/LA/V/W Models:
Increase Cn-28 (compensating gain).
Chapter 3
End adjustment.
3-35
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