– B33 –
– B32 –
Parameters for Adjustment (2nd Gain Switching Function)
<Notes>
• For parameters with suffix of "*1", change will be validated after the reset of the con-
trol power.
• For parameters which default values are parenthesized by "< >", default value varies
automatically by the real-time auto-gain tuning function. Set up Pr21 (Setup of Real-
time auto-gain tuning mode) to 0 (invalid) when you want to adjust manually.
4. Parameter
Parameters for Adjustment of Time Constant for Gains and Filters
Parameters for Auto-Gain Tuning
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
Default
18
19
1A
1B
1C
1D
1E
1F
27
28
29
2A
2B
2C
2D
2E
0 to 3000
1 to 3500
1 to 1000
0 to 5
0 to 2500
100 to 1500
0 to 4
–
0 to 1
100 to 1500
0 to 4
0 to 99
0 to 2000
–
200 to 2000
0 to 2000
–
200 to 2000
<73> <38>
<35> <18>
<1000>
<0>
<65> <126>
1500
2
–
<0>
1500
2
0
0
0
0
0
1/s
Hz
ms
–
0.01ms
Hz
–
–
–
Hz
–
–
0.1Hz
–
0.1Hz
–
P, F
all
all
all
all
all
all
–
P, S
all
all
all
P, F
P, F
P, F
P, F
2nd gain of position loop
2nd gain of velocity loop
2nd Time constant of velocity loop integration
2nd filter of velocity detection
2nd torque filter time constant
1st notch frequency
Selection of 1st notch width
(For manufacturer's use)
Setup of instantaneous velocity observer
2nd notch frequency
Selection of 2nd notch width
Selection of 2nd notch depth
1st damping frequency
Setup of 1st damping filter
2nd damping frequency
Setup of 2nd damping filter
A to
C-frame
D to
F-frame
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
20
21
22
23
24
25
26
2F*2
0 to 10000
0 to 7
0 to 15
0 to 2
0 to 2
0 to 7
0 to 1000
0 to 64
<250>
1
4 1
1
0
0
10
0
%
–
–
–
–
–
0.1rev
–
all
all
all
P, S, F
P, F
all
P, F
P, S, F
Inertia ratio
Setup of real-time auto-gain tuning mode
Mechanical stiffness at real-time auto-gain tuning
Setup of adaptive filter mode
Selection of damping filter switching
Setup of action at normal mode auto-gain tuning
Setup of software limit
Adaptive filter frequency
Default
A to
C-frame
D to
F-frame
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
Default
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
0 to 1
0 to 10
0 to 10000
0 to 20000
0 to 20000
0 to 10000
0 to 5
0 to 10000
0 to 20000
0 to 20000
–
–
–
0 to 500
–
–
<1>
<0>
<30>
<50>
<33>
<20>
<0>
0
0
0
–
–
–
300
–
–
–
–
166
µ
s
–
–
–
166
µ
s
–
–
–
–
–
r/min
–
–
all
all
all
all
all
P, F
S, T
S, T
S, T
S, T
–
–
–
all
–
–
Setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Time for position gain switching
2nd mode of control switching
2nd delay time of control switching
2nd level of control switching
2nd hysteresis 0f control switching
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Setup of JOG speed
(For manufacturer's use)
(For manufacturer's use)
(1+Setup value)
x 166
µ
s
Parameters for Position Control
Set up of parameter
Range
Unit
Related control
mode
Parameter
No.
(Pr )
Default
40
*
1
41
*
1
42
*
1
43
44
*
1
45
*
1
46
*
1
47
*
1
0 to 1
0 to 1
0 to 3
0 to 1
1 to 32767
0 to 32767
0 to 3
0 to 32767
0
0
1
1
2500
0
0
0
–
–
–
–
–
–
–
–
P, F
P, F
P, F
P, F
all
all
all
F
Selection of command pulse input
setup of rotational direction of command pulse
setup of command pulse input mode
Canceling of command pulse prohibition input
Numerator of pulse output division
Denominator of pulse output division
Logic reversal of pulse output
Setup of Z-phase of external scale
*2 this parameter will be automatically set up when the adaptive filter is validated (Pr23,
“Setup of adaptive filter mode” is “1”, and you cannot set this up at your discretion.
Set up Pr23, “Setup of adaptive filter mode” to “0” (invalid) to clear this parameter.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
