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195
Servo Parameter
Section 4-8
Pn102
Position loop gain
2
1/s
1
2000
40
●
Pn103
Inertia ratio
2
%
0
10000
0
●
Pn104
Speed loop gain 2
2
Hz
1
2000
40
●
Pn105
Speed loop integration time constant 2
2
0.01 ms
15
51200
2000
●
Pn106
Position loop gain 2
2
1/s
1
2000
40
●
Rotary
Pn107
Bias
2
r/min
0
10000
0
●
Pn108
Bias additional width
2
Pulse
0
250
7
●
Pn109
Feed forward
2
%
0
100
0
●
Pn10A
Feed forward filter time constant
2
0.01 ms
0
6400
0
●
Pn10B
Advanced gain-related switch
2
---
---
---
0000H
●
0
Mode switch select
0
Internal torque command is the switching
condition.(Level setting: Pn10C)
4
●
1
Speed command is the switching condi-
tion.(Level setting: Pn10D)
2
Acceleration is the switching condition.(Level
setting: Pn10E)
3
Error pulse is the switching condition.(Level
setting: Pn10F)
4
No mode switching function
1
Speed loop control
method
0
PI control
0
●
1
IP control
2
Reserved
---
0
3
R
Reserved
0
---
0
1
---
2
---
Pn10C
Mode switch (Torque command)
2
%
0
800
200
●
Rotary
Pn10D
Mode switch (Speed command)
2
r/min
0
10000
0
●
Rotary
Pn10E
Mode switch (Acceleration)
2
10 r/
min/s
0
3000
0
●
Pn10F
Mode switch (Error pulse)
2
Pulse
0
10000
0
●
Pn110
Real-time auto tuning-related switch
2
---
0000H
3212H
0010H
●
0
Online auto tuning
method
0
Tuning just at beginning of an operation.
0
●
1
Always tuning
2
No auto tuning
1
Speed FB compensation
function select
0
With
1
●
1
Without
2
Viscous friction compen-
sation function select
0
Friction compensation: Nil
0
●
1
Friction compensation: Small
2
Friction compensation: Large
3
R
Reserved
0
---
0
●
1
---
2
---
3
---
Pn111
Speed FB compensation
2
---
1
100
100
●
Pn112
R
Reserved
2
%
0
1000
100
●
Pn113
R
Reserved
2
0.1 Hz
0
10000
1000
●
Pn114
R
Reserved
2
---
0
400
200
●
Pn115
R
Reserved
2
0.1 ms
0
1000
32
●
Pn116
R
Reserved
2
0.1 ms
0
1000
16
●
Pn117
R
Reserved
2
%
20
100
100
●
Pn118
R
Reserved
2
%
50
100
100
●
Pn119
R
Reserved
2
1/s
1
2000
60
●
Pn11A
R
Reserved
2
0.1%
1
2000
1000
●
Type
User
constant No.
Name
Size
Unit
Lower
limit
Upper
limit
the Support
Tool initial
value
En-
able
Содержание CS1W-MCH71 -
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