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7. GENERAL GAIN ADJUSTMENT
7. GENERAL GAIN ADJUSTMENT
POINT
For use in the torque control mode, you need not make gain adjustment.
7.1 Different adjustment methods
7.1.1 Adjustment on a single servo amplifier
The gain adjustment in this section can be made on a single servo amplifier. For gain adjustment, first
execute auto tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2, manual
mode 1 and manual mode 2 in this order.
(1) Gain adjustment mode explanation
Gain adjustment mode
Parameter No. 2
setting
Estimation of load inertia
moment ratio
Automatically set
parameters
Manually set parameters
Auto tuning mode 1
(initial value)
010 Always estimated PG1 (parameter No. 6)
GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Response level setting of
parameter No. 2
Auto tuning mode 2 020 PG1 (parameter No. 6)
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
GD2 (parameter No. 34)
Response level setting of
parameter No. 2
Manual mode 1 030 PG2 (parameter No. 35)
VG1 (parameter No. 36)
PG1 (parameter No. 6)
GD2 (parameter No. 34)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Manual mode 2 040
Fixed to parameter No.
34 value
PG1 (parameter No. 6)
GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG1 (parameter No. 36)
VG2 (parameter No. 37)
VIC (parameter No. 38)
Interpolation mode 000 Always estimated GD2 (parameter No. 34)
PG2 (parameter No. 35)
VG2 (parameter No. 37)
VIC (parameter No. 38)
PG1 (parameter No. 6)
VG1 (parameter No. 36)