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6. GENERAL GAIN ADJUSTMENT
6. GENERAL GAIN ADJUSTMENT
6.1 Different adjustment methods
6.1.1 Adjustment on a MELSERVO-J2M
The gain adjustment in this section can be made on MELSERVO-J2M. 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
DRU parameter
mode
No. 8 setting
Auto tuning mode 1
(initial value)
Auto tuning mode 2
Manual mode 1
Manual mode 2
Interpolation mode
Estimation of load
inertia moment ratio
0001
Always estimated
0003
Fixed to parameter
No. 12 value
0004
0002
0000
Always estimated
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Automatically set parameters
GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
GD2 (DRU parameter No. 12)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
6 - 1
Manually set parameters
RSP (DRU parameter No. 9)
GD2 (DRU parameter No. 12)
RSP (DRU parameter No. 9)
GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
GD2 (DRU parameter No. 12)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
PG2 (DRU parameter No. 15)
VG2 (DRU parameter No. 16)
VIC (DRU parameter No. 17)
PG1 (DRU parameter No. 13)
VG1 (DRU parameter No. 14)
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