3-21
3-7
Making Adjustments
3-7-1 Auto-tuning
Auto-tuning rotates the Servomotor with a load connected (mechanical system), and au-
tomatically adjusts the position loop gain, the speed loop gain, and the speed loop in-
tegration time constant. When adjustments cannot be made by auto-tuning, refer to
3-7-2 Manually Adjusting Gain.
j
Executing Auto-tuning
c
c n 0 0
0 0 0 5
[1]
[2]
[6]
[4]
Data
[3]
0 0 1
t U n
[5]
e n d
DATA
Indicates settings mode.
System check mode
Auto-tuning display
Auto-tuning end display
1. Confirm that the initial display is shown (–. bb).
2. Press the MODE/SET Key to enter the settings mode.
3. Using the Up and Down Keys, set parameter number “00.” (System check mode)
4. Press the DATA Key to display the setting of Cn-00.
5. Using the Up and Down Keys, set the parameter to “05.” (Auto-tuning)
6. Press the MODE/SET Key to switch to the mechanical rigidity selection display.
7. Using the Up and Down Keys, adjust the rigidity to the mechanical system.(Refer to
Selecting Me
-
chanical Rigidity below.)
8. Press the MODE/SET Key to switch to the auto-tuning display.
9. Press the SERVO (DATA) Key to turn on the servo. (This step is not required if the Run Command
Input is ON.)
10. Perform auto-tuning, using the Up Key for forward operation and the Down Key for reverse opera-
tion. Continue pressing the key until “End” is displayed, indicating that auto-tuning has been com-
pleted.
Operation
Chapter 3
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