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4. Parameter
Parameters for Adjustment of Time Constant for Gains and Filters
Parameter
Set up of parameter
No.
(Pr
)
18
2nd gain of position loop
19
2nd gain of velocity loop
1A
2nd Time constant of velocity loop integration
1B
2nd filter of velocity detection
1C
2nd torque filter time constant
1D
1st notch frequency
1E
Selection of 1st notch width
1F
(For manufacturer's use)
27
Setup of instantaneous velocity observer
28
2nd notch frequency
29
Selection of 2nd notch width
2A
Selection of 2nd notch depth
2B
1st damping frequency
2C
Setup of 1st damping filter
2D
2nd damping frequency
2E
Setup of 2nd damping filter
Parameters for Auto-Gain Tuning
Parameter
No.
Set up of parameter
(Pr
)
20
Inertia ratio
21
Setup of real-time auto-gain tuning mode
22
Mechanical stiffness at real-time auto-gain tuning
23
Setup of adaptive filter mode
24
Selection of damping filter switching
25
Setup of action at normal mode auto-gain tuning
26
Setup of software limit
2F*2
Adaptive filter frequency
*2 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.
* 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.
Default
Related control
Range
Unit
A to
D to
C-frame
F-frame
0 to 3000
<73> <38>
1/s
1 to 3500
<35> <18>
Hz
1 to 1000
<1000>
ms
0 to 5
<0>
–
0 to 2500
<65> <126>
0.01ms
100 to 1500
1500
Hz
0 to 4
2
–
–
–
–
0 to 1
<0>
–
100 to 1500
1500
Hz
0 to 4
2
–
0 to 99
0
–
0 to 2000
0
0.1Hz
–200 to 2000
0
–
0 to 2000
0
0.1Hz
–200 to 2000
0
–
Default
Related control
Range
Unit
A to
D to
C-frame
F-frame
0 to 10000
<250>
%
0 to 7
1
–
0 to 15
4
1
–
0 to 2
1
–
P, S, F
0 to 2
0
–
0 to 7
0
–
0 to 1000
10
0.1rev
0 to 64
0
–
P, S, F
– B32 –
Parameters for Adjustment (2nd Gain Switching Function)
Parameter
No.
mode
(Pr
)
30
Setup of 2nd gain
P, F
all
31
1st mode of control switching
32
1st delay time of control switching
all
all
33
1st level of control switching
34
1st hysteresis of control switching
all
all
35
Time for position gain switching
36
2nd mode of control switching
all
–
37
2nd delay time of control switching
P, S
38
2nd level of control switching
all
39
2nd hysteresis 0f control switching
all
3A
(For manufacturer's use)
3B
(For manufacturer's use)
all
P, F
3C
(For manufacturer's use)
3D
Setup of JOG speed
P, F
P, F
3E
(For manufacturer's use)
3F
(For manufacturer's use)
P, F
Parameters for Position Control
Parameter
No.
mode
(Pr
)
all
40
1
Selection of command pulse input
*
all
41
1
setup of rotational direction of command pulse
*
all
42
*
1
setup of command pulse input mode
43
Canceling of command pulse prohibition input
P, F
44
1
Numerator of pulse output division
*
all
45
1
Denominator of pulse output division
*
P, F
46
1
Logic reversal of pulse output
*
47
1
Setup of Z-phase of external scale
*
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the con-
trol power.
• 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
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
–
–
Set up of parameter
Range
0 to 1
0 to 1
0 to 3
0 to 1
1 to 32767
0 to 32767
0 to 3
0 to 32767
– B33 –
Related control
Default
Unit
mode
<1>
–
all
<0>
–
all
<30>
166µs
all
<50>
–
all
<33>
–
all
(1+Setup value)
<20>
P, F
x 166µs
<0>
–
S, T
0
166µs
S, T
0
–
S, T
0
–
S, T
–
–
–
–
–
–
–
–
–
300
r/min
all
–
–
–
–
–
–
Related control
Default
Unit
mode
0
–
P, F
0
–
P, F
1
–
P, F
1
–
P, F
2500
–
all
0
–
all
0
–
all
0
–
F
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