7-20
7-4 Manual Tuning
Adjustment Functions
7
Pn012, Pn01A Speed Loop Integration Time Constant
The Speed Loop Integration Time Constant also determines the responsiveness of the Servo Drive.
Low Speed Loop Integration Time Constant causes vibration and resonance.
→
Increase the Speed Loop Integration Time Constant.
High Speed Loop Integration Time Constant causes a slower response and decreased Servo
Drive rigidity.
→
Decrease the Speed Loop Integration Time Constant.
Pn014, Pn01C Torque Command Filter Time Constant
(Input Adjustment for the Current Loop)
The Torque Command Filter applies a filter to smoothen the current commands from the Speed
Loop. This provides a smoother current flow, thus reducing the amount of vibration.
The default value of the Filter Time Constant is 80 (0.8 ms).
Increase the value to reduce vibration. An increase in value, however, will cause a slower response.
Use 1/25 of the Speed Loop Integration Time Constant (Pn012) as a reference for setting.
The Torque Command Filter also reduces vibration due to machine rigidity.
The Torque Command Filter Time Constant is related to the Speed Loop Gain (Pn011). If Pn011 is
set too large, vibration cannot be reduced by increasing the Torque Command Filter Time Constant.
If there is machine resonance, for example from a ball screw, use the notch filter (Pn01D and
Pn01E) to reduce vibration, or enable the adaptive filter.
Actual Servomotor speed
Commanded operation pattern
Speed
(r/min)
time
Actual Servomotor speed
Commanded operation pattern
Speed
(r/min)
time
