4-51
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
Pr6.00
Title
Analog torque feed forward conversion gain
Related
control mode
P S
T
F
Range
0 to 100
Unit
0.1V/100%
Default
0
• Set the input gain of analog torque feed forward.
0 to 9 are invalid.
<Usage example of Analog torque feed forward>
• Setting bit 5 place of Pr6.10 Function expansion setup to 1 enables the analog torque feed
forward. When the analog input 3 is used by another function (e.g. analog torque limit), the
function becomes invalid.
• The voltage (V) applied to the analog input 3 is converted to the torque via Pr6.00 Analog
torque feed forward conversion gain setup and added to the torque command (%).
• The conversion of analog input 3, input voltage [V], to the torque command [%] to the
motor may be expressed mathematically as follows:
Torque command (%) = 100 × input voltage (V) / (Pr6.00 setup value × 0.1)
Pr6.02
Title
Velocity deviation excess setup
Related
control mode
P
S T F
Range
0 to 100
Unit
r/min
Default
0
When the speed deviation (difference between internal positional command and actual
speed) exceeds this value, Err24.1 Speed over deviation protection occurs.
This protection is not detected when the setup value is 0.
Pr6.04
Title
JOG trial run command speed
Related
control mode
P S T F
Range
0 to 500
Unit
r/min
Default
300
Related page
Set up the command speed used for JOG trial run (velocity control).
Before using, refer to P.4-58 Preparation Trial Run.
Pr6.05
Title
Position 3rd gain valid time
Related
control mode
P
S T
F
Range
0 to 10000
Unit
0.1ms
Default
0
• Set up the time at which 3rd gain becomes valid.
• When not using this parameter, set Pr6.05 to 0 and Pr6.06 to 100.
• This is valid for only position control/full-closed control.
Pr6.06
Title
Position 3rd gain scale factor
Related
control mode
P
S T
F
Range
50 to 1000
Unit
%
Default
100
• Set up the 3rd gain by a multiplying factor of the 1st gain:
• 3rd gain = 1st gain × Pr6.06/100
Pr6.07
Title
Torque command additional value
Related
control mode
P S T F
Range
−100 to 100
Unit
%
Default
0
• Set up the offset load compensation value usually added to the torque command in a
control mode except for the torque control mode.
• Update this parameter when the vertical axis mode for real time auto-tuning is valid.
4
1. Details of parameter
Setup
[Class 6] Special setting
Summary of Contents for MADHT1105
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