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The set-up sequence of the default torque bias is as follows.<br />
1. Check the revolving direction of the motor and the movement direction of<br />
the load.<br />
2. Stop the load at a certain position by using 0 speed control or normal<br />
position control.<br />
3. Check the torque command value while maintaining the system at a halt<br />
and set the value at SEt-64 if it is in the forward direction and at SEt-65 if it<br />
is in the reverse direction.<br />
4. Fine tune the values with the current set values as standard while<br />
watching the torque of the motor, speed, and position response.<br />
If the default torque bias is fixed at a certain value but not 0, the<br />
control begins at the moment of the servo ON and the value of the<br />
torque command begins from the set value of the parameter. Since the<br />
torque to maintain the motor at the current status is generated from<br />
the beginning, the temporary fall of the load can be prevented.<br />
Therefore, overshoot of the speed response can be restrained, and<br />
consequently the position completion time can be reduced.<br />
ATTENTION<br />
If the default torque bias is set too high, the load can<br />
temporarily rise at the moment of the servo ON.<br />
Gain Alternation<br />
In some cases, the load alternates between the two different statuses.<br />
For instance, a robot repeats a motion to lift up an object, carry it<br />
somewhere, leave it there and come back to the original position at no<br />
load status. If this kind of motion is repeated very quickly, online auto<br />
tuning cannot be done smoothly. And if the same gains are used to<br />
operate different load conditions, the response drops in a one-load<br />
situation. In this case, /G-SEL signal is helpful.<br />
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