12.2 Parameter Recording Table
12-27
Appendix
2
1
Pn123
2067h:3
0
Friction Compensation Coef-
ficient
Immediately
Pn124
2067h:4
0
Friction Compensation Fre-
quency Correction
Immediately
Pn125
2067h:5
100
Friction Compensation Gain
Correction
Immediately
Pn12B
2042h:1
400
3rd Speed Loop Gain
Immediately
Pn12C
2042h:2
2000
3rd Speed Loop Integral Time
Constant
Immediately
Pn12D
2042h:3
400
3rd Position Loop Gain
Immediately
Pn12E
2043h:1
400
4rd Speed Loop Gain
Immediately
Pn12F
2043h:2
2000
4rd Speed Loop Integral Time
Constant
Immediately
Pn130
2043h:3
400
4rd Position Loop Gain
Immediately
Pn140
206Ah:1
0000
Model Following Control
Related Switch
Immediately
Pn141
206Ah:2
500
Model Following Control Gain Immediately
Pn142
206Ah:3
1000
Model Following Control Gain
Compensation
Immediately
Pn143
206Ah:4
1000
Model Following Control Bias
(Forward Direction)
Immediately
Pn144
206Ah:5
1000
Model Following Control Bias
(Reverse Direction)
Immediately
Pn147
206Ah:8
1000
Model Following Control
Speed Feedforward Compen-
sation
Immediately
Pn150
208Ah:1
0012
Predictive Control Function
Select Switch
After restart
Pn151
208Ah:2
100
Predictive Control Accelera-
tion/Deceleration Gain
Immediately
Pn152
208Ah:3
100
Predictive Control Ratio of
Weight
Immediately
Pn153
208Ah:4
100
Predictive Control Equivalent
Kp Ratio
Immediately
Pn154
208Ah:5
0
Predictive Control Speed FF
Gain
Immediately
Pn155
208Ah:6
0
Predictive Control Torque FF
Gain
Immediately
Pn156
208Ah:7
0
Predictive Control Torque FF
Filter Time Constant
Immediately
Pn157
208Ah:8
80
Predictive Control Parameter
Kph(C)
Immediately
Pn158
208Ah:9
0
Predictive Control Parameter
Cd
Immediately
Pn159
208Ah:10
0
Predictive Control Parameter
α
Immediately
Pn15A
208Ah:11
0
Predictive Control Equivalent
Kp Fine Adjustment Amount
Immediately
Pn160
206Bh:1
0010
Anti-Resonance Control
Related Switch
Immediately
Pn161
206Bh:2
1000
Anti-Resonance Frequency
Immediately
Pn162
206Bh:3
100
Anti-Resonance Gain
Compensation
Immediately
(cont’d)
Parameter
Index
Number
Factory
Setting
Name
When
Enabled