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MEXE02
code
Speed loop integral
time constant
Torque filter (LPF)
p11
Speed feed-forward
Mechanical rigidity
setting
In general, the order of rigidity from lowest to highest 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
Name
Adjusts the deviation that cannot be
adjusted with the speed loop gain. An
excessively long value may slow the motor
response. An excessively short value may
cause the motor vibration.
Adjusts the motor response at high
frequencies.
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
220
270
330
390
470
Description
Speed feed-
forward [%]
80
80
80
80
80
80
80
80
80
80
8.80
80
7.20
80
5.80
80
4.80
80
4.00
80
3.40
80
Gain tuning
Initial
Setting range
value
1 to 10,000
1,940
(1=0.01 ms)
0 to 4,700 Hz
820
0 to 100 %
80
0 to 15
6
Torque filter
Mechanical
[Hz]
rigidity setting
300
0
300
1
320
2
460
3
560
4
680
5
820
6
1,000
7
1,200
8
1,500
9
1,800
10
2,200
11
2,700
12
3,300
13
3,900
14
4,700
15
229
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