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155
Servo Parameter Area
Section 4-5
Servo Gain Parameters
Param-
eter No.
Parameter
name
Param-
eter
size
Contents
Default
setting
Unit
Setting
range
Enable
setting
Details
Digit
No.
Name
Set-
ting
Explanation
Pn100
Speed loop
gain
2
Adjusts speed loop response.
800
×
0.1
Hz
10 to
20000
Online
---
Pn101
Speed loop
integration
constant
2
Speed loop integral time constant
2000
×
0.01
ms
15 to
51200
Online
---
Pn102
Position
loop gain
2
Adjusts position loop response.
400
×
0.1/s 10 to
20000
Online
---
Pn103
Inertia ratio
2
Set using the ratio between the machine system iner-
tia and the Servomotor rotor inertia.
300
%
0 to
20000
Online
---
Pn104
Speed loop
gain 2
2
Adjusts speed loop response (enabled by automatic
gain switching input).
800
×
0.1
Hz
10 to
20000
Online
---
Pn105
Speed loop
integration
constant 2
2
Speed loop integral time constant (enabled by auto-
matic gain switching input).
2000
×
0.01
ms
15 to
51200
Online
---
Pn106
Position
loop gain 2
2
Adjusts position loop response (enabled by automatic
gain switching input).
400
×
0.1/s 10 to
20000
Online
---
Pn107
Bias rota-
tional
speed
2
Sets position control bias.
0
r/min
0 to 450 Online
---
Pn108
Bias addi-
tion band
2
Sets the position control bias operation start using
deviation counter pulse width.
7
Com-
mand
unit
0 to 250 Online
---
Pn109
Feed-for-
ward
amount
2
Position control feed-forward compensation value
0
%
0 to 100 Online
---
Pn10A
Feed-for-
ward com-
mand filter
2
Sets position control feed-forward command filter.
0
×
0.01
ms
0 to
6400
Online
---
Pn10B
Speed con-
trol setting
2
0
P control
switching con-
ditions
0
Sets internal torque
command value
conditions
(Pn10C).
4
---
---
Online
---
1
Sets speed com-
mand value condi-
tions (Pn10d).
2
Sets acceleration
command value
conditions
(Pn10E).
3
Sets deviation
pulse value condi-
tions (Pn10F).
4
No P control
switching function
1
Speed control
loop switching
0
PI control
0
---
---
Offline
---
1
IP control
2 to 3
Not used.
2
Position loop
control method
0
Standard position
control
0
---
---
Offline
---
1
Less deviation con-
trol
2 to 3
Not used.
3
Not used.
0
(Do not change the
setting.)
0
---
---
---
---
Pn10C
P control
switching
(torque
command)
2
Sets level of torque command to switch from PI con-
trol to P control.
200
%
0 to 800 Online
---
Pn10D
P control
switching
(speed
command)
2
Sets level of speed command to switch from PI control
to P control.
0
r/min
0 to
10000
Online
---
Содержание CJ1W-NC271 - 12-2009
Страница 2: ......
Страница 4: ...iv ...
Страница 6: ...vi ...
Страница 22: ...xxii ...
Страница 58: ...30 Starting Operation Section 2 2 ...
Страница 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Страница 264: ...236 Transferring Servo Parameters Section 5 3 ...
Страница 396: ...368 Linear Interpolation Section 9 7 ...
Страница 648: ...620 List of Error Codes Appendix D ...
Страница 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Страница 684: ...656 Index ...
Страница 686: ...658 Revision History ...