1 SERVO PARAMETER DETAILS
1.2 Basic setting servo parameters group ([Pr. PA_ _ ])
17
1
[Pr. PA08_Auto tuning mode (ATU)]
[Pr. PA08.0_Gain adjustment mode selection]
Select the gain adjustment mode.
0: 2 gain adjustment mode 1 (interpolation mode)
1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
5: Quick tuning mode
6: Load to motor inertia ratio monitor mode
Refer to the following table for details.
Initial value
Setting range
Setting method
Ver.
00000001h
Refer to the relevant detail No.
Each axis
Refer to the relevant detail No.
Initial value
Setting range
Ver.
1h
Refer to the text
C4
Setting value of [Pr. PA08.0]
Gain adjustment mode
Servo parameter adjusted automatically
0
2 gain adjustment mode 1 (interpolation mode)
[Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral compensation]
1
Auto tuning mode 1
[Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]
[Pr. PB07 Model control gain]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral compensation]
2
Auto tuning mode 2
[Pr. PB07 Model control gain]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral compensation]
3
Manual mode
4
2 gain adjustment mode 2
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral compensation]
5
Quick tuning mode
[Pr. PB07 Model control gain]
[Pr. PB08 Position control gain]
[Pr. PB09 Speed control gain]
[Pr. PB10 Speed integral compensation]
[Pr. PB13 Machine resonance suppression filter 1]
[Pr. PB14 Notch shape selection 1]
[Pr. PB15 Machine resonance suppression filter 2]
[Pr. PB16 Notch shape selection 2]
[Pr. PB18 Low-pass filter setting]
[Pr. PB23 Low-pass filter selection]
[Pr. PB50 Machine resonance suppression filter 5]
[Pr. PB51 Notch shape selection 5]
[Pr. PE41 Function selection E-3]
6
Load to motor inertia ratio monitor mode
[Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]
Summary of Contents for MR-J5-B
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