User Constants
7.1.2 Gain-related Constants
7.1 Setting User Constants
The following user constants (parameters) are available with the SERVOPACK. Set or change the
user constants to fit your system.
7.1.1 Basic User Constants
The following basic user constants are available.
■
Cn-0037: Servomotor Selection
Selects the Servomotor, but the setting can be changed only once after power is turned ON.
Cn-0037 is set by the type of Servomotor used, so set the correct Servomotor type.
Table 7.1
(page 7 -23) shows Servomotor codes. Do not change this setting during motor running.
■
Cn-0011: Number of Encoder Pulses
Sets the number of pulses per encoder revolution. The setting can be changed only once after
power is turned ON; do not change the setting during motor running.
■
Cn-0003: Load Inertia
Sets the load inertia for the moment of inertia ratio on the motor shaft. The allowable setting
range is 0 to 65535 [%], but regeneration and other factors must be considered if the Servomotor
exceeds the allowable load inertia. See
5.6.2
(page 5 -10).
7.1.2 Gain-related Constants
The following gain-related user constants are available.
■
Cn-0004: Speed Loop Gain
• Sets the proportional gain for the speed controller.
• Allowable setting range: 1 to 20000 [ x 0.1 Hz]
• Sets the constant at 40 [Hz] maximum when the motor is running under no-load conditions.
■
Cn-0005: Speed Loop Integration Time Constant
• Sets the integration time constant for the speed controller.
• Allowable setting range: 100 to 65535 [ x 0.01 ms]
■
Cn-001A: Position Loop Gain
• Sets the proportional gain for the position controller.
• Allowable setting range: 1 to 50000 [ X 0.01/s]
7 -2
