Table of Contents
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13.1 List of Servo Parameters
13.1.2 List of Servo Parameters
Parameter
No.
Pn081
Pn100
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn109
Pn10A
Pn10B
Pn10C
13-10
Name
Application Function
2
Selections 81
Phase-C Pulse Output Selection
n.
X
0
Output phase-C pulses only in the forward direction.
1
Output phase-C pulses in both the forward and reverse directions.
n.
X
Reserved parameter (Do not change.)
n.
X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
2
Speed Loop Gain
Speed Loop Integral
2
Time Constant
2
Position Loop Gain
2
Moment of Inertia Ratio
Second Speed Loop
2
Gain
Second Speed Loop
2
Integral Time Constant
Second Position Loop
2
Gain
2
Feedforward
Feedforward Filter Time
2
Constant
Gain Application Selec-
2
tions
Mode Switching Selection
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).
n.
X
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.
Speed Loop Control Method
0
PI control
n.
X
1
I-P control
2 and 3 Reserved settings (Do not use.)
n.
X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
Mode Switching Level
2
for Torque Reference
Setting
Setting
Default
Range
Unit
Setting
0000h
to
–
0000
1111
h
10 to 20,000
0.1 Hz
400
15 to 51,200 0.01 ms
2000
10 to 20,000
0.1/s
400
0 to 20,000
1%
100
10 to 20,000
0.1 Hz
400
15 to 51,200 0.01 ms
2000
10 to 20,000
0.1/s
400
0 to 100
1%
0
0 to 6,400
0.01 ms
0
0000h
to
–
0000
5334
h
0 to 800
1%
200
Continued from previous page.
Applicable
When
Motors
Enabled
fication
After
All
h
restart
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
Immedi-
All
ately
All
–
h
When
Enabled
Immedi-
ately
When
Enabled
After
restart
Immedi-
All
ately
Continued on next page.
Classi-
Refer-
ence
page
Setup
6-22
page
Tuning
8-81
page
Tuning
8-81
page
Tuning
8-81
page
Tuning
8-81
page
Tuning
8-66
page
Tuning
8-66
page
Tuning
8-66
page
Tuning
8-92
page
Tuning
8-92
Setup
–
Reference
page 8-93
Reference
page 8-88
page
Tuning
8-93
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