5.5 One-parameter Tuning (Fn203)5-315 Adjustments5.5 One-parameter Tuning (Fn203)Adjustments with one-parameter tuning are described below.5.5.1 One-parameter TuningOne-parameter tuning is used to manually make tuning level adjustments during operation with a position ref-erence or speed reference input from the host controller.One-parameter tuning enables automatically setting related servo gain settings to balanced conditions byadjusting one or two autotuning levels.Tuning level can be set to select an adjustment type.A filter type can be set to select a machine resonance reduction filter according to the mechanical element .One-parameter tuning performs the following adjustments.• Gains (e.g., position loop gain and speed loop gain)• Filters (force reference filter and notch filter)• Friction compensation (Refer to (4) Friction Compensation.)• Anti-resonance control (Refer to (3) Anti-Resonance Control Adjustment Function.)Refer to 5.5.4 Related Parameters for parameters used for adjustments.Perform one-parameter tuning if satisfactory responsiveness is not obtained with advanced autotuning oradvanced autotuning by reference.To fine-tune each servo gain after one-parameter tuning, refer to 5.8 Servo Gain Adjustment Application Func-tion.Tuning Mode Adjustment TypeMode 0 Makes adjustments giving priority to stability.Mode 1 Makes adjustments for feedback control, not for model following control. [Standard]Mode 2 Makes adjustments for positioning.Mode 3 Makes adjustments for positioning, giving priority to overshooting suppression.Filter Type ContentsType = 1 Selects a filter suitable for the belt drive mechanism or other mechanism.Type = 2 Selects a filter suitable for a ball screw drive mechanism or linear servomotor.Type = 3 Selects a filter suitable for a rigid system, such as a gear.CAUTION• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning ina state where the SERVOPACK can come to an emergency stop at any time.• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before one-parame-ter tuning is performed. If the setting greatly differs from the actual mass ratio, normal control of the SER-VOPACK may not be possible, and vibration may result.
