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54
Setup of Parameter and Mode
Parameters for Auto-Gain Tuning
Parameters for Adjustment (2nd Gain Switching Function)
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/
Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control
• For parameters which default values are parenthesized by "< >", default value varies automatically by the
real-time auto-gain tuning function. Set up Pr21 (Setup of Real-time auto-gain tuning mode) to 0 (invalid)
when you want to adjust manually.
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr )
Default
A to C-frame D to F-frame
20
21
22
23
24
25
26
2F *3
0 to 10000
0 to 7
0 to 15
0 to 2
0 to 2
0 to 7
0 to 1000
0 to 64
<250>
1
4 1
1
0
0
10
0
%
–
–
–
–
–
0.1rev
–
All
All
All
P, S, F
P, F
All
P, F
P, S, F
Inertia ratio
Setup of real-time auto-gain tuning mode
Mechanical stiffness at real-time auto-gain tuning
Setup of adaptive filter mode
Selection of damping filter switching
Setup of action at normal mode auto-gain tuning
Setup of software limit
Adaptive filter frequency
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr )
Default
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
0 to 1
0 to 10
0 to 10000
0 to 20000
0 to 20000
0 to 10000
0 to 5
0 to 10000
0 to 20000
0 to 20000
–
–
–
0 to 500
–
–
<1>
<0>
<30>
<50>
<33>
<20>
<0>
0
0
0
–
–
–
300
–
–
–
–
166µS
–
–
–
166µS
–
–
–
–
–
r/min
–
–
All
All
All
All
All
P, F
S, T
S, T
S, T
S, T
–
–
–
All
–
–
Setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Time for position gain switching
2nd mode of control switching
2nd delay time of control switching
2nd level of control switching
2nd hysteresis of control switching
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Setup of JOG speed
(For manufacturer's use)
(For manufacturer's use)
(1+setup value)
x 166µs
*3 this parameter will be automatically set up when the adaptive filter is validated (Pr23, “Setup of adaptive
filter mode” is “1”, and you cannot set this up at your discretion. Set up Pr23, “Setup of adaptive filter
mode” to “0” (invalid) to clear this parameter.