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Parameter
Name
Torque control P
824
gain 1
Torque control P
834
gain 2
Torque control
825
integral time 1
Torque control
835
integral time 2
826
Refer to Pr. 74.
Torque detection
827
filter 1
Torque detection
837
filter 2
Model speed
828
control gain
Speed feed forward
control/model
877
adaptive speed
control selection
Speed feed forward
878
filter
Speed feed forward
879
torque limit
Load inertia ratio
880
Speed feed forward
881
gain
830
Refer to Pr. 820.
831
Refer to Pr. 821.
832
Refer to Pr. 74.
833
Refer to Pr. 823.
834
Refer to Pr. 824.
835
Refer to Pr. 825.
836
Refer to Pr. 74.
837
Refer to Pr. 827.
Incre
Initial
Range
ments
Value
Set the proportional gain for the current
control of the q and d axes. (Increasing the
1%
100%
0 to 200%
value improves trackability in response to a
current command change and reduces
current variation with disturbance.)
Second function of Pr. 824 (valid when the
0 to 200%
RT terminal is on)
1%
9999
9999
No function
Set the integral time for the current control
of the q and d axes. (Decreasing the value
0.1ms
5ms
0 to 500ms
shortens the time taken to return to the
original torque if current variation with
disturbance occurs.)
Second function of Pr. 825 (valid when the
0 to 500ms
RT signal is on)
0.1ms
9999
9999
No function
Set the primary delay filter for the current
0.001s
0s
0 to 0.1s
feedback.
Second function of Pr. 827 (valid when the
0 to 0.1s
RT signal is on)
0.001s
9999
9999
No function
1%
60%
0 to 1000% Set the gain for model speed controller.
0
Normal speed control is exercised
1
Speed feed forward control is exercised.
1
0
2
Model adaptive speed control is enabled.
Set the primary delay filter for the speed
0.01s
0s
0 to 1s
feed forward result calculated using the
speed command and load inertia ratio.
Limits the maximum value of the speed
0.1%
150%
0 to 400%
feed forward torque.
0 to 200
Set the load inertia ratio.
0.1
7
times
Inertia ratio found by easy gain turning.
Set the feed forward calculation result as a
1%
0%
0 to 1000%
gain.
Parameter List
Para
meter
copy
Description
All
Param
param
eter
eter
clear
clear
: enabled
× : disabled
×
4
133

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