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MEXE02
Name
code
Speed feed-forward
p13
Mechanical rigidity
setting
Generally speaking, the order of rigidity arranged from low to high is as follows.
Belt and pulley - Rack and pinion - Ball screw - Rigid body (index table, gear, etc.)
„ When the "Motor response setting" parameter is set to "0 to 15"
When the "Motor response setting" parameter is set to "0 to 15, " the setting values of the related parameters are
shown in the table below.
Motor
Position loop
response
gain [Hz]
setting
0
1
1
2
2
3
3
5
4
6
5
7
6
8
7
10
8
12
9
15
10
18
11
20
12
20
13
20
14
20
15
20
Description
When the speed is constant, the deviation
between the command position and the actual
position can be reduced to shorten the settling
time.
If it is set to 100 %, the deviation will be
approximately 0 %. However, an excessively high
value may increase the motor overshoot or cause
the motor vibration.
Sets the rigidity of equipment. Although the motor
response improves as the setting value increases,
an excessively high value may cause the motor to
vibrate or to generate noise.
Speed loop
Speed loop integral
gain [Hz]
time constant [ms]
14
51.00
22
51.00
32
48.20
46
33.80
56
28.40
68
23.40
82
19.40
100
15.80
120
13.20
150
10.60
180
8.80
220
7.20
270
5.80
330
4.80
390
4.00
470
3.40
Setting range
0 to 100 %
0 to 15
Speed feed-
Torque filter
forward [%]
[Hz]
80
300
80
300
80
320
80
460
80
560
80
680
80
820
80
1,000
80
1,200
80
1,500
80
1,800
80
2,200
80
2,700
80
3,300
80
3,900
80
4,700
Gain tuning
Initial
value
80
6
Mechanical
rigidity setting
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
277
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