Parameter
Size
No.
Automatic Gain Changeover Related
2
Switch 1
4th 3rd 2nd 1st
digit digit digit digit
n.
Pn139
Pn13D
2
Current Gain Level
2
Model Following Control Related Switch 0000 to 1121
4th 3rd 2nd 1st
digit digit digit digit
n.
Pn140
Pn141
2
Model Following Control Gain
Model Following Control Gain Compen-
Pn142
2
sation
Model Following Control Bias
Pn143
2
(Forward Direction)
Setting
Name
Range
0000 to 0052
Gain Switching Selection Switch
0
Manual gain switching
Changes gain manually using G-SEL of OPTION field.
1
Reserved (Do not use.)
2
Automatic gain switching pattern 1
Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.
Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.
Gain Switching Condition A
0
Positioning completion signal (/COIN) ON
1
Positioning completion signal (/COIN) OFF
2
Positioning near signal (/NEAR) ON
3
Positioning near signal (/NEAR) OFF
4
Position reference filter output = 0 and position reference input OFF
5
Position reference input ON
Reserved (Do not change.)
Reserved (Do not change.)
100 to 2000
Model Following Control Selection
0
Does not use model following control.
1
Uses model following control.
Vibration Suppression Selection
0
Does not perform vibration suppression.
1
Performs vibration suppression over the specified frequency.
2
Performs vibration suppression over two different kinds of frequencies.
Vibration Suppression Adjustment Selection
0
Does not adjust vibration suppression automatically using utility function.
1
Adjusts vibration suppression automatically using utility function.
Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)
0
Does not use model following control and speed/torque feedforward together.
1
Uses model following control and speed/torque feedforward together.
10 to 20000
500 to 2000
0 to 10000
Factory
When
Units
Setting
Enabled
−
0000
Immediately
1%
2000
After restart
−
0100
Immediately
0.1/s
500
Immediately
0.1%
1000
Immediately
0.1%
1000
Immediately
9.1 List of Parameters
(cont'd)
Classi-
Reference
fication
Section
Tuning
5.6.1
Tuning
5.6.4
−
Tuning
Reference
Section
5.2.1, 5.4.1,
5.3.1, 5.5.1
Reference
Section
5.2.1
−
Tuning
−
Tuning
9
−
Tuning
9-9