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## Initial Parameters
Motor parameters (from nameplate):
- Pn170: Rated current (A)
- Pn171: Rated speed (rpm)
- Pn172: Rated torque (Nm)
Position control:
- Pn205/206: Electronic gear ratio
- Pn207: Position loop gain (start at 40)
Safety:
- Pn520: Position deviation alarm (3-5mm in pulses)
- Pn522: Torque limit (300% for press)
## Electronic Gear Ratio Example
SGM7J 23-bit encoder = 8,388,608 pulses/rev
10:1 gearbox, 20mm ball screw pitch, 0.001mm resolution:
Pulses/mm = 1000
Pulses/rev at motor = 20,000 x 10 = 200,000
Ratio = 8,388,608 / 200,000 = 41.94
Set Pn205=4194, Pn206=100
## Tuning for Press
High inertia + variable load = auto-tuning often fails.
Manual procedure:
1. Pn100=50Hz, Pn101=20ms, Pn102=40/s
2. Run 10 strokes at 50% speed
3. If stable, increase Pn100 by 10Hz
4. Stop when oscillation appears, reduce 20%
Typical result for 160T press: Pn100=80-120Hz, Pn102=60-80/s