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Adjustments
How to Adjust Gain
Start
End
Automatic adjustment (automatic gain tuning)
Manual gain tuning
Torque command filter
Do you need higher
response ?
Any affect of the
machine resonance ?
Actioon OK? Abnormal sound or vibration occurs.
Action OK?
Action OK?
Normal auto gain tuning Real time auto gain tuning
Actioon OK? Abnormal sound or vibration occurs.
Return gain adjustment rotary switch GAIN to original position. (Turn CCW.)
Adjust gain adjustment rotary switch to "0" position.
Action OK?
Measure the resonance frequency
of machine system
Notch filter
Yes
Yes
No
OK
No
· Guidance values of gains
·
Monitoring the velocity and torque using PANATERM
®
,
fine-adjust the gains so that the motor action follows
the commands.
·
Setting by PANATERM
®
is required.
·
Adjust setting to value suitable for machine configuration.
·
For table of rotary set values and machine configuration,
see page 58.
Pr1D
Pr14,Pr1C
OK
Yes
Yes
No
No
NG
NG
No
OK
Downloading to
EEPROM
2nd gain switching
function
NG
Turn gain adjustment rotary switch GAIN CW.
<Notes>
• Pay extra attention to the safety.
• If the machine enters to oscillation (abnormal sound and vibration), shut off the power immediately,
or change to Servo-OFF.