5 - 13
5. PARAMETERS
(2) Auto tuning response (parameter No.PA09)
If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Setting
Response
Guideline for machine
resonance frequency [Hz]
Setting
Response
Guideline for machine
resonance frequency [Hz]
1
Low response
10.0
17
Middle response
67.1
2
11.3
18
75.6
3
12.7
19
85.2
4
14.3
20
95.9
5
16.1
21
108.0
6
18.1
22
121.7
7
20.4
23
137.1
8
23.0
24
154.4
9
25.9
25
173.9
10
29.2
26
195.9
11
32.9
27
220.6
12
37.0
28
248.5
13
41.7
29
279.9
14
47.0
30
315.3
15
52.9
31
355.1
16
Middle response
59.6
32
High response
400.0
5.1.10 In-position range
Parameter
Initial
value
Unit
Setting
range
Control mode
No.
Symbol
Name
Position Speed Torque
PA10
INP
In-position range
100
pulse
0 to
65535
(Note)
Note. For the software version C0 or older drivers, the setting range is 0 to 10,000.
Set the range, where In-position (INP) is output, in the command pulse unit before calculation of the electronic
gear. With the setting of parameter No.PC24, the range can be changed to the encoder output pulse unit.
Servo motor droop pulse
In-position range [pulse]
Command pulse
Command pulse
Droop pulse
In-position (INP)
ON
OFF
