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List of Parameters
Appendix B
Gain Parameter
Param-
eter
No.
Parameter name
Param-
eter
size
Explanation
Default
setting
Unit
Setting
range
Data
attribute
100
(100)
Position Loop Gain 1
2
Set the position loop gain 1.
320/
480
0.1/s
0 to 30000
B
101
(101)
Speed Loop Gain 1
2
Set the speed loop gain 1.
180/
270
0.1Hz
1 to 32767
B
102
(102)
Speed Loop Integral
Time Constant 1
2
Set the speed loop integration time constant 1.
210/
310
0.1ms
1 to 10000
B
103
(103)
Speed Feedback Fil-
ter Time Constant 1
2
The speed feedback filter 1 can be set to one of 6 val-
ues.
0
-
0 to 5
B
104
(104)
Torque Command Fil-
ter Time Constant 1
2
Set the time constant for the torque filter 1.
84/126
0.01m
s
0 to 2500
B
105
(105)
Position Loop Gain 2
2
Set the position loop gain 2.
380/
570
0.1/s
0 to 30000
B
106
(106)
Speed Loop Gain 2
2
Set the speed loop gain 2.
180/
270
0.1Hz
1 to 32767
B
107
(107)
Speed Loop Integra-
tion Time Constant 2
2
Set the speed loop integration time constant 2.
10000
0.1ms
1 to 10000
B
108
(108)
Speed Feedback Fil-
ter Time Constant 2
2
The speed feedback filter 2 can be set to one of 6 val-
ues.
0
-
0 to 5
B
109
(109)
Torque Command Fil-
ter Time Constant 2
2
Set the time constant for the torque filter 2.
84/126
0.01m
s
0 to 2500
B
110
(10A)
Speed Feed-forward
Amount
2
Set the speed feed-forward amount.
300
0.1%
0 to 1000
B
111
(10B)
Speed Feed-forward
Command Filter
2
Set the speed feed-forward filter time constant.
50
0.01m
s
0 to 6400
B
112
(10C)
Torque Feed-forward
Amount
2
Set the torque feed-forward amount.
0
0.1%
0 to 1000
B
113
(10D)
Torque Feed-forward
Command Filter
2
Set the torque feed-forward filter.
0
0.01m
s
0 to 6400
B
114
(10E)
Gain Switching Input
Operating Mode
Selection
2
Execute optimum tuning using the gain switching func-
tion.
0: Gain 1 (PI/P switching enabled)
1: Gain 1 and gain 2 switching available
1
-
0 to 1
B
115
(10F)
Switching Mode in
Position Control
2
Select the gain switching condition for position control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via MECHA-
TROLINK-II communications
3: Torque command change amount
4: Always gain 1
5: Command speed
6: Amount of position error
7: When the position command is received.
8: Positioning completion signal (INP) OFF
9: Actual motor speed
10:Combination of position command input and rota-
tion speed
0
-
0 to 10
B
116
(110)
Gain Switching Delay
Time in Position Con-
trol
2
Set the delay time for switching from gain 2 to gain 1.
50
0.1ms
0 to 10000
B
117
(111)
Gain Switching Level
in Position Control
2
Set the gain switching level.
50
-
0 to 20000
B
118
(112)
Gain Switching Hys-
teresis in Position
Control
2
Set the hysteresis for gain switching.
33
-
0 to 20000
B
119
(113)
Position Gain Switch-
ing Time
2
Set the position gain switching time for gain switching.
33
0.1ms
0 to 10000
B
120
(114)
Switching Mode in
Speed Control
2
Select the gain switching condition for speed control.
It is necessary that Pn114 be set to 1.
0: Always gain 1
1: Always gain 2
2: Gain switching command input via MECHA-
TROLINK-II communications
3: Torque command change amount
4: Speed command change amount
5: Command speed
0
-
0 to 5
B
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 ...