Omron OMNUC FND Series User Manual page 183

Operation
Notes on Auto-tuning Settings
The reciprocating operation is performed twice during auto-tuning, so pay careful attention to the
mechanical operating range.
The amount of movement to one side in reciprocating operation during auto-tuning is the value set in
the "Auto1" auto-tuning parameter (reciprocating operation width).
The motor speed during auto-tuning is the value set in the "Auto3" auto-tuning parameter (maximum
rotation speed).
When auto-tuning is completed, the adjustment parameter settings for position loop gain (AJ4.),
speed loop proportional gain (AJ2.), and speed loop integral gain (AJ3.) will be changed automatically.
(They will not be changed until the operation has been completed.)
If the response is not sufficient for the gain after the auto-tuning adjustments, then refer to 3-9-2 Manu -
ally Adjusting Gain and adjust the gain manually.
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Chapter 3