5-26
Basic gain parameter setup table
Stiffness
1st gain/2nd gain
Adjustment
filter
load variation
suppression
function
For load variation support mode (Pr0.02 = 6) only
Pr1.00
Pr1.05
Pr1.01
Pr1.06
Pr1.02
Pr1.07
Pr1.04
Pr1.09
Pr6.48
*
1
Pr6.24
Pr1.00
Pr1.05
Pr6.24
Pr6.74
Pr6.75
Position
loop
[0.1 /s]
Velocity
loop
[0.1 Hz]
Velocity
loop
integration
[0.1 ms]
Torque
[0.01 ms]
Time
constant
[0.1 ms]
Load
fiuctuation
compensation
filter
[0.01 ms]
Position
loop
[0.1 /s]
Load
fiuctuation
compensation
filter
[0.01 ms]
Torque
compensation
ferquecy1
[0.1 Hz]
Torque
compensation
ferquecy2
[0.1 Hz]
0
20
15
3700
1500
155
2500
15
2500
25
7
1
25
20
2800
1100
115
2500
20
2500
34
10
2
30
25
2200
900
94
2500
25
2500
42
12
3
40
30
1900
800
84
2500
30
2500
51
15
4
45
35
1600
600
64
2500
35
2500
59
17
5
55
45
1200
500
54
2500
45
2500
76
22
6
75
60
900
400
44
2500
60
2500
104
30
7
95
75
700
300
34
2120
75
2120
129
37
8
115
90
600
300
34
1770
90
1770
153
44
9
140
110
500
200
24
1450
110
1450
184
53
10
175
140
400
200
23
1140
140
1140
231
66
11
320
180
310
126
16
880
180
880
290
83
12
390
220
250
103
13
720
220
720
346
99
13
480
270
210
84
11
590
270
590
413
118
14
630
350
160
65
9
450
350
450
512
146
15
720
400
140
57
8
400
400
400
570
163
16
900
500
120
45
7
320
500
320
678
194
17
1080
600
110
38
6
270
600
270
678
194
18
1350
750
90
30
5
210
750
210
678
194
19
1620
900
80
25
5
180
900
180
678
194
20
2060
1150
70
20
4
140
1150
140
678
194
21
2510
1400
60
16
4
110
1400
110
678
194
22
3050
1700
50
13
3
90
1700
90
678
194
23
3770
2100
40
11
3
80
2100
80
678
194
24
4490
2500
40
9
3
60
2500
60
678
194
25
5000
2800
35
8
2
60
2800
60
678
194
26
5600
3100
30
7
2
50
3100
50
678
194
27
6100
3400
30
7
2
50
3400
50
678
194
28
6600
3700
25
6
2
40
3700
40
678
194
29
7200
4000
25
6
2
40
4000
40
678
194
30
8100
4500
20
5
2
40
4500
40
678
194
31
9000
5000
20
5
2
40
5000
40
678
194
*
1 The value of Pr6.48 Adjustment filter has additional value 1 for B to F frames.
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Synchronous type
Note
•
For details of parameters, refer to P.4-16 “Details of parameter”.
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