9 - 9
9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-2 Gain
Setti
ngs
9
•
Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
•
Increasing the set value increases the time constant and decreases the noise generated by the
motor. Responsiveness, however, also decreases.
•
Normally, use the default set value.
*1
The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
•
Set the time constant for the first-order lag filter inserted into the force command.
•
This object may be effective in suppressing vibration due to torsion resonance.
*1
The default setting is 380 for a Drive with 200 V and 1 kW or greater, or with 400 V.
•
Set the responsiveness of the position control system for the second position loop.
*1
The default setting is 180 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
•
Set the responsiveness of the second speed loop.
•
Set the second speed loop integral time constant.
•
Set the second speed feedback filter.
3103 hex
Speed Feedback Filter Time Constant 1
Setting
range
0 to 5
Unit
–
Default
setting
0
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3104 hex
Force Command Filter Time Constant 1
Setting
range
0 to 2,500
Unit
0.01 ms
Default
setting
84
*1
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3105 hex
Position Loop Gain 2
Setting
range
0 to 30,000
Unit
0.1/s
Default
setting
570
*1
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3106 hex
Speed Loop Gain 2
Setting
range
1 to 32,767
Unit
0.1 Hz
Default
setting
270
*1
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3107 hex
Speed Loop Integral Time Constant 2
Setting
range
1 to 10,000
Unit
0.1 ms
Default
setting
10,000
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
3108 hex
Speed Feedback Filter Time Constant 2
Setting
range
0 to 5
Unit
–
Default
setting
0
Data
attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible
A l l
A l l
csp
pp
hm
A l l
A l l
A l l