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Preparations and Adjustments
Parameters for Selecting Function
Parameters for Adjusting Time Constants of Gain Filters, etc.
Parameter
NO.
Parameter description Range Default Unit
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
Velocity feed forward
Feed forward filter time constant
(Internal use)
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Notch frequency
Notch width selection
Disturbance torque obserber
0
~
2000
1
~
3500
1
~
1000
0
~
5
0
~
2500
0
~
100
0
~
6400
------
0
~
2000
1
~
3500
1
~
1000
0
~
5
0
~
2500
100
~
1500
0
~
4
0 ~ 8
100
100
50
4
50
0
0
0
100
100
50
4
50
1500
2
8
1/s
Hz
ms
------
0.01ms
%
0.01ms
------
1/s
Hz
ms
------
0.01ms
Hz
------
------
Åñ1 0
Åñ1 1
Åñ1 2
Åñ1 3
Åñ1 4
Åñ1 5
Åñ1 6
Åñ1 7
Åñ1 8
Åñ1 9
Åñ1 A
Åñ1 B
Åñ1 C
Åñ1 D
Åñ1 E
Åñ1 F
Parameter
NO.
Parameter description
Range Default Unit
Axis address
(Internal use)
Control mode set-up
(Internal use)
Overtravel Input inhibit
(Internal use)
ZEROSPD input selection
Speed monitor(SP) selection
Torque monitor (IM) selection
Warning output selection
(Internal use)
(Internal use)
Baud rate set-up of RS232C
(Internal use)
(Internal use)
0 ~ 15
-----
0 ~ 1
------
0 ~ 1
-----
0 ~ 1
0 ~ 9
0 ~ 5
0 ~ 5
------
------
0 ~ 2
------
------
1
0
0
1
1
1
1
3
0
2
1
1
2
2
0
------
------
------
------
------
------
-----
------
------
------
------
------
------
------
------
Åñ0 0
Åñ0 1
Åñ0 2
Åñ0 3
Åñ0 4
Åñ0 5
Åñ0 6
Åñ0 7
Åñ0 8
Åñ0 9
Åñ0 A
Åñ0 B
Åñ0 C
Åñ0 D
0 E, 0 F
For values marked with *, see page 36.
(
Pr**
)
(
Pr**
)