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Parameter
Name
No.
Model Following Con-
Pn143
2
trol Bias in the Forward
Direction
Model Following Con-
Pn144
2
trol Bias in the Reverse
Direction
Vibration Suppression 1
Pn145
2
Frequency A
Vibration Suppression 1
Pn146
2
Frequency B
Model Following Con-
Pn147
2
trol Speed Feedforward
Compensation
Second Model Follow-
Pn148
2
ing Control Gain
Second Model Follow-
Pn149
2
ing Control Gain Correc-
tion
Vibration Suppression 2
Pn14A
2
Frequency
Vibration Suppression 2
Pn14B
2
Correction
Control-Related Selec-
2
tions
Model Following Control Type Selection
n.
X
Tuning-less Type Selection
Pn14F
n.
X
n.
X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
Anti-Resonance Con-
2
trol-Related Selections
Anti-Resonance Control Selection
n.
X
Anti-Resonance Control Adjustment Selection
Pn160
n.
X
n.
X
Reserved parameter (Do not change.)
n.X
Reserved parameter (Do not change.)
Anti-Resonance Fre-
Pn161
2
quency
Anti-Resonance Gain
Pn162
2
Correction
Setting
Setting
Range
Unit
0 to 10,000
0.1%
0 to 10,000
0.1%
10 to 2,500
0.1 Hz
10 to 2,500
0.1 Hz
0 to 10,000
0.1%
10 to 20,000
0.1/s
500 to 2,000
0.1%
10 to 2,000
0.1 Hz
10 to 1,000
1%
0000 to
–
0021
0
Use model following control type 1.
1
Use model following control type 2.
0
Use tuning-less type 1.
1
Use tuning-less type 2.
2
Use tuning-less type 3.
0000 to
–
0011
0
Do not use anti-resonance control.
1
Use anti-resonance control.
Do not adjust anti-resonance control automatically during execution of auto-
0
tuning without a host reference, autotuning with a host reference, and custom
tuning.
Adjust anti-resonance control automatically during execution of autotuning
1
without a host reference, autotuning with a host reference, and custom tuning.
10 to 20,000
0.1 Hz
1 to 1,000
1%
6.2 List of Servo Parameters
Continued from previous page.
Default
Applicable
When
Setting
Motors
Enabled
Immedi-
1000
All
ately
Immedi-
1000
All
ately
Immedi-
500
All
ately
Immedi-
700
All
ately
Immedi-
1000
All
ately
Immedi-
500
All
ately
Immedi-
1000
All
ately
Immedi-
800
All
ately
Immedi-
100
All
ately
After
0021
All
restart
Immedi-
0010
All
ately
Immedi-
1000
All
ately
Immedi-
100
All
ately
Continued on next page.
Classi-
Refer-
fication
ence
*1
Tuning
Tuning
*1
Tuning
*1
*1
Tuning
Tuning
*1
*1
Tuning
*1
Tuning
Tuning
*1
*1
Tuning
Tuning
*1
*1
Tuning
Tuning
*1
*1
Tuning
6
6-15
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Table of Contents
Troubleshooting
