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108
Servo Parameter Area
Section 4-5
Damping Suppression Parameters
120
(114)
Switching Mode in
Speed Control
2
Select the gain switching condition for speed control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via MECHA-
TROLINK-II communications
3: Torque command change amount
4: Speed command change amount
5: Command speed
0
-
0 to 5
B
121
(115)
Gain Switching Delay
Time in Speed Con-
trol
2
Set the delay time for switching from gain 2 to gain 1.
0
0.1ms
0 to 10000
B
122
(116)
Gain Switching Level
in Speed Control
2
Set the gain switching level.
0
-
0 to 20000
B
123
(117)
Gain Switching Hys-
teresis in Speed
Control
2
Set the hysteresis for gain switching.
0
-
0 to 20000
B
124
(118)
Switching Mode in
Torque Control
2
Select the gain switching condition for torque control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via MECHA-
TROLINK-II communications
3: Torque command change amount
0
-
0 to 3
B
125
(119)
Gain Switching Delay
Time in Torque Con-
trol
2
Set the delay time for switching from gain 2 to gain 1.
0
0.1ms
0 to 10000
B
126
(11A)
Gain Switching Level
in Torque Control
2
Set the gain switching level.
0
-
0 to 20000
B
127
(11B)
Gain Switching Hys-
teresis in Torque
Control
2
Set the hysteresis for gain switching.
0
-
0 to 20000
B
Param-
eter
No.
Parameter name
Param-
eter
size
Explanation
Default
setting
Unit
Setting
range
Data
attribute
Param-
eter
No.
Parameter name
Param-
eter
size
Explanation
Default
setting
Unit
Setting
range
Data
attribute
200
(200)
Adaptive Filter Selec-
tion
2
Set the operation of the adaptive filter.
0: Disabled
1: One enabled.Frequency limited after adaptation.
2: Two enabled.Frequency limited after adaptation.
3: One enabled.Adaptation performed at all times.
4: Two enabled.Adaptation performed with 1 filter at all
times.
0
-
0 to 4
B
201
(201)
Notch 1 Frequency
Setting
2
Set the notch frequency of resonance suppression
notch filter 1.
5000
Hz
50 to 5000
B
202
(202)
Notch 1 Width Set-
ting
2
Set the notch width of the resonance suppression
notch filter 1.
2
-
0 to 20
B
203
(203)
Notch 1 Depth Set-
ting
2
Set the notch depth of resonance suppression notch fil-
ter 1.
0
-
0 to 99
B
204
(204)
Notch 2 Frequency
Setting
2
Set the notch frequency of resonance suppression
notch filter 2.
5000
Hz
50 to 5000
B
205
(205)
Notch 2 Width Set-
ting
2
Set the notch width of the resonance suppression
notch filter 2.
2
-
0 to 20
B
206
(206)
Notch 2 Depth Set-
ting
2
Set the notch depth of resonance suppression notch fil-
ter 2.
0
-
0 to 99
B
207
(207)
Notch 3 Frequency
Setting
2
Set the notch frequency of resonance suppression
notch filter 3.
This is set automatically when an adaptive notch is
enabled.
5000
Hz
50 to 5000
B
208
(208)
Notch 3 Width Set-
ting
2
Set the notch width of the resonance suppression
notch filter 3.
This is set automatically when an adaptive notch is
enabled.
2
-
0 to 20
B
209
(209)
Notch 3 Depth Set-
ting
2
Set the notch depth of resonance suppression notch fil-
ter 3.
This is set automatically when an adaptive notch is
enabled.
0
-
0 to 99
B
Summary of Contents for CJ1W-NC271 - 12-2009
Page 2: ......
Page 4: ...iv ...
Page 6: ...vi ...
Page 22: ...xxii ...
Page 58: ...30 Starting Operation Section 2 2 ...
Page 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Page 264: ...236 Transferring Servo Parameters Section 5 3 ...
Page 396: ...368 Linear Interpolation Section 9 7 ...
Page 648: ...620 List of Error Codes Appendix D ...
Page 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 684: ...656 Index ...
Page 686: ...658 Revision History ...