44
*2 The integral control is disabled when the set value is "0 ms".
D: Can be changed during operation
Rigidity table list
20
D
4
30 Hz
30 ms
1.30 ms
40 Hz
20 ms
5
1.00 ms
Gain constants: Gain related constants
No.
Name
Details
Unit
Set range
Initial
value
Attribute
Pn203
Speed control
integration time
Set the speed control integration time.
ms
0
～
1000 *2
45
D
Pn201
Rigidity table
Set the rigidity table.
Select a combination of speed control
proportional gain, speed control
integration time, torque filter time constant
from the rigidity table.
-
1
～
5
3
-
Pn202
Speed control
proportional gain
Set the speed control proportional gain.
Hz
1
～
1000
Set value
Speed control proportional gain
(Pn202)
Speed control integration time
(Pn203)
Torque filter time constant
(Pn204)
%
0.00
～
327.67
-
2
ms
Pn205
Inertia moment ratio
Set the inertia moment ratio of the
connected load.
Set the percentage of the motor rotor
inertia as the motor axis conversion
inertia.
0
～
3000
0
D
Pn204
Torque filter time
constant
Set the time constant of the torque filter.
1
10 Hz
80 ms
3.00 ms
2
15 Hz
60 ms
2.50 ms
3
20 Hz
45 ms
2.00 ms
