appendix1‑2
4
Integral time for velocity control #1
This parameter is used for servo tuning.
Specifies the integral time #1 of velocity deviation integrator in the velocity control section of the
servo loop.
1
1000
1000
Min:
Max:
Initial:
Unit:
msec
VelIntTim1
Dec
5
Integral time for velocity control #2
This parameter is used for servo tuning.
Specifies the integral time #2 of velocity deviation integrator in the velocity control section of the
servo loop.
1
1000
1000
Min:
Max:
Initial:
Unit:
msec
VelIntTim2
Dec
6
Velocity integral limiting value #1
This parameter is used for servo tuning.
Specifies the limiting value #1 of the velocity deviation integrator in the velocity control section
of the servo loop. Specify a smaller value when a wind‑up condition occurs during operation. This
parameter is set automatically by either executing auto‑tuning operation or changing the 'servo
stiffness' parameter.
0
4999999
10000
Min:
Max:
Initial:
Unit:
VelIntLim1
Dec
7
Velocity integral limiting value #2
This parameter is used for servo tuning.
Specifies the limiting value #2 of the velocity deviation integrator in the velocity control section
of the servo loop. Specify a smaller value when a wind‑up condition occurs during operation. This
parameter is set automatically by either executing auto‑tuning operation or changing the 'servo
stiffness' parameter.
0
4999999
10000
Min:
Max:
Initial:
Unit:
VelIntLim2
Dec
8
Position control bandwidth #1
This parameter is used for servo tuning.
Specifies the position control bandwidth #1 of the position control section of the servo loop.
1
64
1
Min:
Max:
Initial:
Unit:
Hz
PosFreq1
Dec
TI 71M01D06‑01E 2nd Edition : 2007.01.10‑00