3.2 Operating Procedures for Utility Functions
3.2.30 One-Parameter Tuning (Fn203)
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3.2.30
One-Parameter Tuning (Fn203)
You can use this utility function to manually adjust the servo during oper-
ation using a speed or position reference input from the host controller.
This utility function allows you to automatically set related servo gain
settings to balanced conditions by tuning the SERVOPACK with one or
two tuning levels.
The following items are adjusted.
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filters)
• Friction compensation
• Anti-resonance control
Preparations
Always check the following before you perform one-parameter tuning.
• The parameters must not be write-prohibited (Fn010 must be set to
0000).
• The servo must be in ready status.
• There must be no overtravel.
• If speed control is used, tuning mode 0 or 1 must be set.
• Tuning-less function must be disabled (Pn170 = n.
0).
(This is to prevent tuning the SERVOPACK again with the tuning-less
function after using one-parameter tuning.)
• The test without a motor function must be disabled (Pn00C =
n.
0).
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