Dynamic parameter adjustment steps:
Step 1 Set system rigidity (Fn 001)
Kp :  Position circuit proportional gain (recommended value for machine Kp is 30-90 c)
Kv :  Proportional gain of speed circuit (recommended Kv value for machine tool 30-120 Hz)
Ti :  Integral gain of speed loop (recommended value for machine tool Ti is 10-30 ms)
Example: Choose different rigidity based on the size of the machine tool (Fn001 is recommended to be set to 5 for 1-meter machining centers)
Rigid (Fn001) Kp (Pn102) Kv (Pn100) Ti (Pn101) Torque filtering (Pn401)
Low 3 30 30 3000 130
Medium low 4 40 2000 100
Medium high 5 60 1500 70
High 6 85 85 1000 50

Step 2 Auto turning to find the inertia ratio between the motor and the machine tool
The purpose of automatic coordination is mainly to calculate the dynamic parameters that may be affected after the integration of the motor and the machine tool, such as the motor load inertia ratio. If the relevant parameters are not identified first, the performance of the speed circuit will be inconsistent with the results set by Kv/Ti
Automatic coordination operation steps:
1. Set parameter Pn110 to 11. (Open the online automatic tuning function)
2. Manually operate the Jog bed platform back and forth multiple times.
3. If resonance occurs when manually operating the Jog bed, please immediately press the emergency stop button and set the driver parameter Pn408 to 1 (turn on the resonance suppression function). However, after correcting the Pn409 (resonance suppression frequency) setting, it is recommended to set Pn409 to 200 for the 1-meter machining center machine.
4. Write the contents of Fn007 into EEPROM.
(Press the Mode key to Fn000 → Press the Up or Down key to Fn007 → Press the Data key continuously for 1 second to display the load throughput ratio → Press the Set key continuously for 1 second to display the load throughput ratio of Fn007 content, which can be written to the EEPROM)
5. Set parameter Pn110 to 12. (Disable online automatic tuning function)
Step three Start and set the parameters related to the resonance suppression function of the driver
(Pn408 set to 1 to activate resonance suppression function, Pn409 can set resonance suppression frequency)
After combining a motor with a machine tool, in addition to selecting a motor that is too small to achieve high response, sometimes the motor torque may be sufficient. However, due to the poor transmission rigidity of the machine tool bed, resonance may occur and the control goal of high response and smoothness cannot be achieved. At this time, in addition to strengthening the transmission rigidity of the machine tool bed, the controller can be used to suppress resonance function and achieve high response results
Step 4 Increase the gain parameter of the speed loop again

In terms of position loop control, the speed loop is an internal loop, and the higher the response of the internal loop, the better the performance of the external loop (position loop) as expected, which is less affected by external cutting and friction forces. Therefore, in cutting applications, please adjust the speed loop gain as high as possible to achieve better cutting quality

YASKAWA servo parameter setting instructions:

Note: 1. The parameters marked with * must be set for the driver in order for the motor to operate normally!
2. Firstly, set the electronic gear ratio Pn202/Pn203 of the driver and the number of pulses Pn201 that need to be fed back by the motor after one revolution. The calculation method is as follows:
Feedback pulse number of servo motor encoder type

Usually, the accuracy unit set for new generation controllers is 1um/Rules (the required accuracy unit can be set in system parameter 17)
Usually, the multiplier set for the new generation controller is 4 times (the multiplier for the axis card can be set in system parameters 81-100)

Calculation formula:
Electronic gear ratio Pn202/Pn203=(number of encoder pulses x 4 x M) ÷ (number of load pulses per revolution x N)
M and N refer to the mechanical gear ratio on the transmission side of the motor and worktable
New generation system parameters 61~63=number of pulses feedback per motor revolution Pn201=number of pulses for load movement per revolution ÷ multiplier 4 set inside the controller
****** ex： ******
When the pitch of the screw is 10mm, the C-type 17 bit motor is selected and a direct transmission coupling is used
The gear ratio calculation is as follows:
The number of pulses per revolution of the load is 10mm ÷ 1um/Pulses=104 Pulses
M / N = 1 / 1
Pn202 / Pn203 = (32768× 4× 1 )  ÷ (104 ×1 )  =  8192 / 625
Pn201 = 104  ÷  4  =  2500 Pules

2. Set the driver parameters in the table above, with the values being the later set values; Pn201, Pn202, Pn203 are the values calculated by the above formula based on the actual situation; Pn100, Pn101, Pn102 do not modify the values for now, they are factory values;
3. Adjust the rigidity of the machine, first move the X, Y, and Z axes back and forth, and increase the Fn001 driver parameter value by adding 1; Usually, after the machine vibrates or makes sound, it is lowered back to the original level. One thing to note: After adjustment, the position gain Pn102 of X, Y, and Z should be set to be the same;

Attention: If the gear ratio is set incorrectly, the encoder will not receive feedback, and the controller will issue a lost position command and a serious tracking error alarm.

Servo motor with C-type encoder (32768pulse/REV), control accuracy of 1um, position pulse form AB (4x ratio)