HarmonicDrive H A - 800A, Manual

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7-5 Tune mode
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Appe
Stat
us di
spl
ay m
ode/
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ar
m
m
ode/
tune m
ode
7-5 Tune mode
You can read and change parameters relating to actuator operations.
The following items can be changed.
Mode Code Parameters Default Details
Tune m
ode 1
AJ00 Position loop gain *1 P7-13
AJ01 Speed loop gain *1 P7-13
AJ02 Speed loop integral compensation *1 P7-14
AJ03
Feed-forward gain 0 P7-14
AJ04 In-position range *1 P7-14
AJ05
Attained speed judgment value
l
2000 P7-15
AJ06
Attained torque judgment value
l
50 P7-15
AJ07 Zero speed judgment value 10 P7-15
AJ08 Internal speed command 1 500 P7-16
AJ09 Internal speed command 2 1000 P7-16
AJ10 Internal speed command 3 1500 P7-16
AJ11 Torque limit 100 P7-16
AJ12 Acceleration time constant 1 P7-17
AJ13 Deceleration time constant 1 P7-17
AJ14 External speed command offset 0 P7-18
AJ15 External torque command offset 0 P7-18
AJ16 Speed monitor offset *2 P7-18
AJ17
Current monitor offset *2 P7-18
AJ18 System reservation *3 -- --
AJ19 System reservation *3 -- --
Tune m
ode 2
AJ20
Feed-forward filter
1 P7-19
AJ21
Load inertia moment ratio
100 P7-19
AJ22
Torque constant compensation
factor
100 P7-19
AJ23
Spring constant compensation
factor
100 P7-20
AJ24 Positioning Automatic Gain 0 P7-20
AJ25 to 39 System reservation *3 -- --
Tune m
ode 3
AJ40 to 59 System reservation *3 -- --
*1: It varies depending on the applicable actuator.
Refer to the values of applicable actuator that are the targets of Appendix 1 [Default settings].
*2: It varies depending on the driver.
*3: Do not change the parameters that are in the system reserved areas. The default setting of the system
reservation may vary depending on the model/version. If the set values change when the parameters
are transferred between different models, it does not affect the product functions.
To perform the data comparison with the backed up parameter files or writing the backed up parameter
files to the driver using PSF-800 communication software, refer to [10-5. Saving and reading set
values].