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4.3 Control Gain and Filter Setting Parameters
Parameters marked "" in the "Power" field is enabled after the control power is turned off
then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is
unlit when the control power is turned off.)
4.3.1 List (PA1_)
No.
Name
PA1_
51
Moving average S-curve time
52
Low-pass filter (for S-curve) time constant
53
Command pulse smoothing function
54
Position command response time constant
55
Position loop gain 1
56
Speed loop gain 1
57
Speed loop integration time constant 1
58
Feed forward gain 1
Torque filter time constant for position and speed
59
control
60
Torque filter time constant for torque control *1)
61
Gain changing factor
62
Gain changing level
63
Gain changing time constant
64
Position loop gain 2
65
Speed loop gain 2
66
Speed loop integration time constant 2
67
Feed forward gain 2
70
Automatic notch filter selection
71
Notch filter 1, frequency
72
Notch filter 1, attenuation
73
Notch filter 1, width
74
Notch filter 2, frequency
75
Notch filter 2, attenuation
76
Notch filter 2, width
77
Automatic vibration suppression selection
78
Vibration suppressing anti resonance frequency 0
Vibration suppressing workpiece inertia ratio
79
(vibration suppressing resonance frequency) 0
80
Vibration suppressing anti resonance frequency 1
Vibration suppressing workpiece inertia ratio
81
(vibration suppressing resonance frequency) 1
82
Vibration suppressing anti resonance frequency 2
Vibration suppressing workpiece inertia ratio
83
(vibration suppressing resonance frequency) 2
84
Vibration suppressing anti resonance frequency 3
CHAPTER 4 PARAMETER
Default value: *** Determined in auto tuning.
Control mode
Default
Power
value
Position
***
-
0.0
-
0
-
***
-
***
-
***
-
***
-
0.000
-
***
-
0.00
-
-
1
-
50
-
1
-
100
-
100
-
100
-
100
-
1
-
4000
-
0
-
2
-
4000
-
0
-
2
-
0
-
300.0
-
0
-
300.0
-
0
-
300.0
-
0
-
300.0
-
Control Gain and Filter Setting Parameters
Record of
reference value
Speed
Torque
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
4-27
4
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