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540
List of Parameters
Appendix B
Pn018
0 to 6400
2
Sets the position loop gain when using gain 2 switching.
Same function as Pn010.
200
×
0.1
[1/s]
0 to 30000
Online
Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn019
Speed Loop
Gain 2 (RT)
2
Sets the speed loop gain when using gain 2 switching.
Same function as Pn011.
800
×
0.1
Hz
1 to 30000
Online
Pn01A
Speed Loop
Integration
Time Con-
stant 2 (RT)
2
Sets the speed loop integration time constant when using gain 2
switching.
Same function as Pn012.
Set 9999 to stop integration operation while retaining the integra-
tion value. Setting 10000 disables integration.
500
×
0.1
ms
1 to 10000
Online
Pn01B
Speed
Feedback
Filter Time
Constant 2
(RT)
2
Sets the speed detection filter when using gain 2 switching.
Same function as Pn013. Normally, use a setting of 0.
When Instantaneous Speed Observer Setting (Pn027) is enabled,
this parameter will be disabled.
0
---
0 to 5
Online
Pn01C
Torque
Command
Filter Time
Constant 2
(RT)
2
Sets the first-order lag filter time constant for the torque command
section when using gain 2 switching.
Same function as Pn014.
100
×
0.01
ms
0 to 2500
Online
Pn01D
Notch Filter
1 Fre-
quency
2
Sets the notch frequency of notch filter 1 for resonance suppres-
sion.
This filter must be matched with the resonance frequency of the
load.
1500
Hz
100 to 1500
Online
100 to
1499
Filter enabled
1500
Filter disabled
Pn01E
Notch Filter
1 Width
2
Selects the notch width of notch filter 1 for resonance suppression.
Normally, use a setting of 2.
2
---
2
Online
Pn01F
Reserved
---
Do not change.
0
---
---
---
Pn020
Inertia Ratio
(RT)
2
Sets the load inertia as a percentage of the Servomotor rotor iner-
tia.
Setting [%] = (Load inertia / Rotor inertia)
×
100
The inertia ratio estimated during realtime autotuning is stored in
the EEPROM every 30 minutes.
300
%
0 to 10000
Online
Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn021
Realtime
Autotuning
Mode
Selection
2
Sets the operating mode for realtime autotuning.
A setting of 3 or 6 will provide faster response to changes in inertia
during operation. Operation, however, may be unstable depending
on the operating pattern.
Normally, use a setting of 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain switching
are a problem.
0
---
0 to 7
Online
Pn022
Realtime
Autotuning
Machine
Rigidity
Selection
2
Sets the machine rigidity for realtime autotuning.
Increasing this value increases the responsiveness.
If the value is changed suddenly by a large amount, the gain will
change rapidly, subjecting the machine to shock.
Always start by making small changes in the value, and gradually
increase the value while monitoring machine operation.
Cannot be set to 0 when using the Parameter Unit.
2
---
0 to F
Online
Param-
eter
No.
Parameter
name
Param-
eter
size
Setting
Explanation
Default
setting
Unit
Setting
range
Enable
setting
Details
Realtime Autotuning
Degree of change in
load inertia
0
Disabled
---
1
Horizontal axis mode
Almost no change
2
Gradual changes
3
Sudden changes
4
Vertical axis mode
Almost no change
5
Gradual changes
6
Sudden changes
7
Gain switching disable
mode
Almost no change
Содержание CJ1W-NC271 - 12-2009
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Страница 4: ...iv ...
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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 ...