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Parameter
Name
No.
Second Position Loop
Pn106
2
Gain
Pn109
2
Feedforward
Feedforward Filter Time
Pn10A
2
Constant
Gain Application Selec-
2
tions
Mode Switching Selection
n.
X
Pn10B
Speed Loop Control Method
n.
X
2 to 3
n.
X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
Mode Switching Level
Pn10C
2
for Torque Reference
Mode Switching Level
Pn10D
2
for Speed Reference
Mode Switching Level
Pn10E
2
for Acceleration
Mode Switching Level
Pn10F
2
for Position Deviation
Position Integral Time
Pn11F
2
Constant
Friction Compensation
Pn121
2
Gain
Second Friction Com-
Pn122
2
pensation Gain
Friction Compensation
Pn123
2
Coefficient
Friction Compensation
Pn124
2
Frequency Correction
Friction Compensation
Pn125
2
Gain Correction
Pn131
2
Gain Switching Time 1
Pn132
2
Gain Switching Time 2
Setting
Setting
Range
Unit
10 to 20,000
0.1/s
0 to 100
1%
0 to 6,400
0.01 ms
0000 to
–
5334
Use the internal torque reference as the condition
0
(level setting: Pn10C).
Use the speed reference as the condition (level set-
ting: Pn10D).
1
Use the speed reference as the condition (level set-
ting: Pn181).
Use the acceleration reference as the condition (level
setting: Pn10E).
2
Use the acceleration reference as the condition (level
setting: Pn182).
Use the position deviation as the condition (level set-
3
ting: Pn10F).
4
Do not use mode switching.
0
PI control
1
I-P control
Reserved settings (Do not use.)
0 to 800
1%
0 to 10,000
1 min
-1
1 min
0 to 30,000
s
1 refer-
0 to 10,000
ence
unit
0 to 50,000
0.1 ms
10 to 1,000
1%
10 to 1,000
1%
0 to 100
1%
-10,000 to
0.1 Hz
10,000
1 to 1,000
1%
0 to 65,535
1 ms
0 to 65,535
1 ms
14.1.2 List of Parameters
Continued from previous page.
Default
Applicable
When
Setting
Motors
Enabled
Immedi-
400
All
ately
Immedi-
0
All
ately
Immedi-
0
All
ately
0000
All
Enabled
Immedi-
Enabled
Immedi-
200
All
ately
Immedi-
-1
0
Rotary
ately
Immedi-
/
0
Rotary
ately
Immedi-
0
All
ately
Immedi-
0
All
ately
Immedi-
100
All
ately
Immedi-
100
All
ately
Immedi-
0
All
ately
Immedi-
0
All
ately
Immedi-
100
All
ately
Immedi-
0
All
ately
Immedi-
0
All
ately
14.1 List of Parameters
Classi-
Refer-
fication
ence
page
Tuning
8-59
page
Tuning
8-77
page
Tuning
8-77
–
Setup
–
When
Reference
page 8-79
ately
When
Reference
After
–
restart
page
Tuning
8-79
page
Tuning
8-79
page
Tuning
8-79
page
Tuning
8-79
page
Tuning
8-82
page
8-59,
Tuning
page
8-62
page
8-59,
Tuning
page
8-62
page
Tuning
8-62
page
Tuning
8-62
page
Tuning
8-62
page
Tuning
8-59
page
Tuning
8-59
14-11
14
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