4-96
Response
Rigidity
setting
Fn001
(d.00
jj
)
Position
loop gain
(S
--1
)
Pn102
Speed loop
gain
(Hz)
Pn100
Speed loop
integration
time
constant
(x 0.01 ms)
Pn101
Torque
command
filter time
constant
(x 0.01 ms)
Pn401
Representative
applications
(mechanical
system)
Low
01
15
15
6000
250
Articulated
robots,
harmonic
02
20
20
4500
200
harmonic
drives, chain
drives, belt
drives rack and
03
30
30
3000
130
drives, rack and
pinion drives,
etc.
Medium
04
40
40
2000
100
XY tables, Car-
tesian-coordi-
nate robots,
general-purpose
machinery, etc.
High
05
60
60
1500
70
Ball screws
(
g
06
85
85
1000
50
(direct
coupling)
07
120
120
800
30
coupling),
feeders, etc.
08
160
160
600
20
feeders, etc.
09
200
200
500
15
10
250
250
400
10
Note 1.
The servo-system loop gain will rise in response to a higher rigidity setting, shortening posi-
tioning time. If the setting is too large, however, the machinery may vibrate, so make the set-
ting small.
Note 2.
When the rigidity is set, the user parameters in the above table will change automatically.
H
Manual Tuning-related User Parameters
Parame-
ter No.
Parame-
ter
name
Explanation
Default
setting
Unit
Setting
range
Restart
power?
Pn100
Speed
loop gain
Adjusts speed loop responsiveness.
80
Hz
1 to
2000
No
Pn101
Speed
loop
integrati
on time
constant
Speed loop integration time constant
2000
x 0.01 ms 15 to
51200
No
Pn102
Position
loop gain
Adjusts position loop responsiveness.
40
1/s
1 to
2000
No
Pn103
Inertia
ratio
Sets the ratio using the mechanical
system inertia to Servomotor rotor inertia
ratio.
300
%
0 to
1000
No
Pn401
Torque
command
filter time
constant
Sets the filter time constant for the
internal torque command.
40
x 0.01 ms 0 to
65535
No
Note
Refer to
4-4-4 Parameter Details
for details of each parameter.
Operation
Chapter 4
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