5-13
5.4.4
Servo Stiffness Parameter
The
#38 Servo stiffness settings
parameter is for general settings for the control system. The control
parameters are set based on this parameter after measuring the load inertia/load mass in the auto-tuning
operation.
If #38 is changed, either one of the position control bandwidth parameters (#50, #48) selected by IN_FN and
either one of the velocity control bandwidth parameters (#51, #49) selected by IN_GAIN are set. In addition, the
gain of the control system is set automatically, and the position integral limiting value parameter (#53) is also
automatically set to the minimum position integral limiting value that can generate the maximum torque and the
maximum thrust in the motor lock status. It is not necessary to set parameters related to feed forward and filters
again.
[Related parameters]
#38
Servo stiffness settings
#50
Position control bandwidth 1
#48
Position control bandwidth 2
#51
Velocity control bandwidth 1
#49
Velocity control bandwidth 2
#53
Position integral limiting value
5
