6.5 One-parameter Tuning (Fn203)6-336 Adjustments6.5 One-parameter Tuning (Fn203)Adjustments with one-parameter tuning are described below.6.5.1 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 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 6.5.4 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 6.8 Additional Adjustment Function. PreparationThe following conditions must be met to perform 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.6.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.There are the following two operation procedures depending on the tuning mode being used.• When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun-ing will be used as the tuning method for applications other than positioning.• When the tuning mode is set to 2 or 3, the model following control will be enabled and it can be used fortuning for positioning.The digital operator or SigmaWin+ is required to execute this function.Refer to theΣ-V Series User’s Manual, Operation of Digital Operator (Manual No.: SIEP S800000 55) forbasic key operations of the digital operator.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.
