6.3 One-parameter Tuning (Fn203)6-156 Adjustments6.3 One-parameter Tuning (Fn203)Adjustments with one-parameter tuning are described below.6.3.1 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 tuning levels.One-parameter tuning performs the following adjustments.• Gains (e.g., position loop gain and speed loop gain)• Filters (torque reference filter and notch filter)• Friction compensation• Anti-resonance controlRefer to 6.3.4 Related Parameters for parameters used for adjustments.Perform one-parameter tuning if satisfactory response characteristics is not obtained with advanced autotun-ing or advanced autotuning by reference.To fine-tune each servo gain after one-parameter tuning, refer to 6.6 Additional Adjustment Function. PreparationCheck the following settings before performing one-parameter tuning.The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the followingconditions are not met.• The test without a motor function must be disabled (Pn00C.0 = 0).• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).• The tuning-less function must be disabled (Pn170.0 = 0).• The tuning mode must be set to 0 or 1 when performing speed control.• The main circuit power must be ON.• All alarms must be cleared.• The hardwire baseblock (HWBB) must be disabled.CAUTION• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning ina state where the multi-winding drive unit can come to an emergency stop at any time.
