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6.2 List of Servo Parameters
Parameter
No.
Pn139
Pn13D
Pn13F
Pn140
Pn141
Pn142
6-14
Name
Automatic Gain Switch-
2
ing Selections 1
Gain Switching Selection
Use manual gain switching.
0
The gain is switched manually with G-SEL in the servo command output sig-
nals (SVCMD_IO).
n.
X
1
Reserved setting (Do not use.)
Use automatic gain switching pattern 1.
The gain is switched automatically from the first gain to the second gain when
2
switching condition A is satisfied. The gain is switched automatically from the
second gain to the first gain when switching condition A is not satisfied.
Gain Switching Condition A
0
/COIN (Positioning Completion Output) signal turns ON.
1
/COIN (Positioning Completion Output) signal turns OFF.
n.
X
2
/NEAR (Near Output) signal turns ON.
3
/NEAR (Near Output) signal turns OFF.
4
Position reference filter output is 0 and position reference input is OFF.
5
Position reference input is ON.
n.
X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
2
Current Gain Level
Less-Deviation Control
2
2 Second Position Inte-
gral Time Constant
Model Following Con-
2
trol-Related Selections
Model Following Control Selection
n.
X
0
Do not use model following control.
1
Use model following control.
Vibration Suppression Selection
0
Do not perform vibration suppression.
n.
X
1
Perform vibration suppression for a specific frequency.
2
Perform vibration suppression for two specific frequencies.
Vibration Suppression Adjustment Selection
Do not adjust vibration suppression automatically during execution of auto-
0
tuning without a host reference, autotuning with a host reference, and custom
n.
X
tuning.
Adjust vibration suppression automatically during execution of autotuning
1
without a host reference, autotuning with a host reference, and custom tun-
ing.
Speed Feedforward (VFF)/Torque Feedforward (TFF) Selection
n.X
0
Do not use model following control and speed/torque feedforward together.
1
Use model following control and speed/torque feedforward together.
Model Following Con-
2
trol Gain
Model Following Con-
2
trol Gain Correction
Setting
Setting
Default
Range
Unit
Setting
0000 to
–
0000
0052
100 to 2,000
1%
2000
0 to 50,000
0.1 ms
0
0000 to
–
0100
1121
10 to 20,000
0.1/s
500
500 to 2,000
0.1%
1000
Continued from previous page.
Applicable
When
Classi-
Motors
Enabled
fication
Immedi-
All
Tuning
ately
Immedi-
All
Tuning
ately
Immedi-
All
Tuning
ately
Immedi-
All
Tuning
ately
Immedi-
All
Tuning
ately
Immedi-
All
Tuning
ately
Continued on next page.
Refer-
ence
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−
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Troubleshooting
