Write to the EEPROM in the Parameter Write mode.
Start adjustment.
Yes
No
Adjustment completed.
Disable realtime autotuning (3002 hex = 0).
Set each parameter according to the parameter settings for different applications.
Operate based on the normal operation pattern and load.
Are the positioning time and other performances satisfied?
Adjustment completed.
Increase Speed Loop Gain 1 (3101 hex) to the extent
that hunting does not occur upon servo lock.
Decrease Speed Loop Integral Time Constant 1 (3102 hex) to
the extent that hunting does not occur upon servo lock.
Does hunting or vibration occur when the motor moves?
No
Decrease Speed Loop Gain 1 (3101 hex).
Increase Speed Loop Integral Time Constant 1 (3102 hex).
Increase position loop gain to the extent
that overshooting does not occur.
Yes
If vibration persists after repeated
adjustments or the positioning is slow:
Increase Force Command Filter Time Constant 1 (3104 hex).
Set the damping frequencies in the
Notch 1 Frequency Setting (3201 hex),
Notch 2 Frequency Setting (3204 hex),
Notch 3 Frequency Setting (3207 hex), and
Notch 4 Frequency Setting (3210 hex).
Never adjust or set parameters to
extreme values, as it will make the
operation unstable.
Failure to follow this guideline
may result in injury.
Gradually change the value to
adjust the gain while checking the
motor operation.
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