Parameter Setting
Parameters for Defining the Real Time Auto Gain Tuning
Parameter No.
Parameter description
(Pr □□)
*
2 0
Inertia ratio
*
2 1
Real time auto tuning set-Up
*
2 2
Machine stiffness at auto tuning
*
2 3
(Not available)
2 4 〜 2 F
(Internal use)
Parameters for Adjustments (for 2nd Gain)
Parameter No.
Parameter description
(Pr □□)
*
3 0
2nd gain action set-up
*
3 1
Position control switching mode
*
3 2
Position control switching delay time
*
3 3
Position control switching level
*
3 4
Position control swiching hysteresis
*
3 5
Position loop gain switching time
*
3 6
Velocity control switching mode
*
3 7
Velocity control switching delay time
*
3 8
Velocity control switching level
*
3 9
Velocity control switching hysteresis
*
3 A
Torque control switching mode
*
3 B
Torque control switching delay time
*
3 C
Torque control switching level
*
3 D
Torque control switching hysteresis
3 E 〜 3 F
(Internal use)
For values marked with << >>, see <Note> in page 44.
<Note>
The following parameters have different default values depending on the Series of the Driver.
Parameter No.
(Pr □□)
Series MSDA and MQDA
1 1
1 4
1 9
1 C
2 0
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100
150
100
150
100
− 44 −
Range
Default
0 〜 10000
《100》
0 〜 3
0
0 〜 9
2
Range
Default
0 〜 1
0
0 〜 8
0
0 〜 10000
0
0 〜 10000
0
0 〜 10000
0
0 〜 10000
0
0 〜 5
0
0 〜 10000
0
0 〜 10000
0
0 〜 10000
0
0 〜 3
0
0 〜 10000
0
0 〜 10000
0
0 〜 10000
0
――
――
Default
Series MDDA, MFDA, MHDA and MGDA
150
100
150
100
100
Related control
Unit
mode
%
P・S・T
――
P・S・T
――
P・S・T
Related control
Unit
mode
――
P・S・T
――
P
166μs
P
――
P
――
P
P
(1+ Setting value)
×166μs
――
S
166μs
S
――
S
――
S
――
T
166μs
T
――
T
――
T
――
――