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Sigma II User's Manual
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Setting Parameters for Online Auto-Tuning
The following flowchart shows the procedure for setting the parameters for online
auto-tuning.
Operate with factory
settings of parameters
No
inertia changes?
Set to always perform tuning.
(Set Pn110.0 to 1)
Adjust the rigidity setting
Adjust the friction
compensation.
Set in Pn110.2.
Set so that online autotuning
is not performed.
(Set Pn110.0 to 2)
Make servo gain
adjustments manually *
Start
Operation
OK?
No
Load
Yes
Yes
Operation
OK?
No
(Set in Fn001)
Yes
Operation
OK?
No
Yes
Operation
OK?
No
Before making manual servo gain adjustments, refer to
6.4 Servo Gain Adjustments or 6.2 High-Speed Positioning.
End
Save the results of autotuning
to parameters. From the next
time, execute autotuning using
the calculated value as the
initial value.
Set in Fn007
6-19
Chapter 6: Servo Adjustment
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