5-26
D
Feed-forward Amount: Cn-1d
This is the feed forward compensation for the position controller. Positioning time is shortened by ad-
ding the command pulse differential to the speed command. The setting range is 0 to 100%, and the
factory setting is 0%.
D
Deviation Counter Overflow Level: Cn-1E
This sets the level for detection deviation counter overflow. If the deviation counter value exceeds this
set value, a servo alarm will be generated. The setting range is 1 to 32,767 (
×
256 command units), and
the factory setting is 1,024 (
×
256 command units).
D
No. 1 Internal Speed Setting: Cn-1F (Factory Setting: 100 r/min)
No. 2 Internal Speed Setting: Cn-20 (Factory Setting: 200 r/min)
No. 3 Internal Speed Setting: Cn-21 (Factory Setting: 300 r/min)
Make these settings to control speeds by means of internal settings. The setting range is 0 to 4,500
(r/min). For details, refer to
3-5-3 Setting Internal Speed Control.
D
Electronic Gear Ratio G1 (Numerator): Cn-24
Electronic Gear Ratio G2 (Denominator): Cn-25
The motor will be operated by the pulses resulting from the number of command pulses multiplied by the
gear ratio (G1/G2).
The setting range for both G1 and G2 is 65,535, and the settings are restricted as follows:
(1/100)
x
(G1/G2)
x
100.
The factory setting is : G1 =4, G2 = 1 (i.e., an electronic gear ratio of 4/1). At the factory setting, inputting
2,048 pulses will cause one Servomotor revolution.
D
Position Command Acceleration/Deceleration Time Constant: Cn-26
This executes smoothing processing on command pulses for Servomotor operation. It is valid in the
following cases:
•
There is no acceleration or deceleration for command pulses.
•
The command pulse frequency changes suddenly.
•
The electronic gear ratio setting is large (G1/G2
y
10).
The setting range is 0 to 640 (
×
0.1 ms), and the factory setting is 0 (
×
0.1 ms).
D
Feed Forward Command Filter: Cn-27
This is the setting for the low-pass filter so that the feed forward amount is not added suddenly. Using
this setting can prevent overshooting in the event of sudden changes in command pulse frequency. The
setting range is 0 to 640 (
×
0.1 ms), and the factory setting is 0 (
×
0.1 ms).
D
Compensating Gain: Cn-28 (HA/LA/V/W Models)
When outputting a large torque (during acceleration, deceleration, etc.), the speed loop gain is de-
creased based on this setting. Motor vibration can be reduced by increasing this setting; also, the posi-
tioning time can be reduced because the speed loop gain can be set to a higher value.
If this setting is too high, follow-up delays can occur during acceleration and deceleration. The setting
range is 0 to 100, and the factory setting is 0.
Specifications
Chapter 5
