17.4 Parameter Recording Table
17-44
Pn10C
(210Ch)
200
Mode Switching Level for
Torque Reference
Immediately
Pn10D
(210Dh)
0
Mode Switching Level for
Speed Reference
Immediately
Pn10E
(210Eh)
0
Mode Switching Level for
Acceleration
Immediately
Pn10F
(210Fh)
0
Mode Switching Level for
Position Deviation
Immediately
Pn11F
(211Fh)
0
Position Integral Time Con-
stant
Immediately
Pn121
(2121h)
100
Friction Compensation Gain Immediately
Pn122
(2122h)
100
Second Friction Compen-
sation Gain
Immediately
Pn123
(2123h)
0
Friction Compensation
Coefficient
Immediately
Pn124
(2124h)
0
Friction Compensation Fre-
quency Correction
Immediately
Pn125
(2125h)
100
Friction Compensation Gain
Correction
Immediately
Pn131
(2131h)
0
Gain Switching Time 1
Immediately
Pn132
(2132h)
0
Gain Switching Time 2
Immediately
Pn135
(2135h)
0
Gain Switching Waiting
Time 1
Immediately
Pn136
(2136h)
0
Gain Switching Waiting
Time 2
Immediately
Pn139
(2139h)
0000h
Automatic Gain Switching
Selections 1
Immediately
Pn13D
(213Dh)
2000
Current Gain Level
Immediately
Pn140
(2140h)
0100h
Model Following Control-
Related Selections
Immediately
Pn141
(2141h)
500
Model Following Control
Gain
Immediately
Pn142
(2142h)
1000
Model Following Control
Gain Correction
Immediately
Pn143
(2143h)
1000
Model Following Control
Bias in the Forward Direc-
tion
Immediately
Pn144
(2144h)
1000
Model Following Control
Bias in the Reverse Direc-
tion
Immediately
Pn145
(2145h)
500
Vibration Suppression 1
Frequency A
Immediately
Pn146
(2146h)
700
Vibration Suppression 1
Frequency B
Immediately
Pn147
(2147h)
1000
Model Following Control
Speed Feedforward Com-
pensation
Immediately
Pn148
(2148h)
500
Second Model Following
Control Gain
Immediately
Pn149
(2149h)
1000
Second Model Following
Gain Control Correction
Immediately
Continued on next page.
Continued from previous page.
Parameter
No.
Default
Setting
Name
When
Enabled
