6-12
Para-
meter
No.
Restart
power?
Setting
range
Unit
Default
setting
400 V
Default
setting
100/200 V
Explanation (See note 1.)
Parameter
name
Para-
meter
No.
Restart
power?
Setting
range
Unit
Default
setting
400 V
Default
setting
100/200 V
Explanation (See
note 2.)
Setting
Name
Digit
No.
Parameter
name
Pn10A
Feed-for-
ward com-
mand filter
Sets position control feed-forward command filter.
0
0
x 0.01 ms
0 to 6400 ---
Pn10b
Speed
control
setting
0
P control
switching
conditions
0
Sets internal torque
command value
conditions (Pn10C).
004
000
---
---
Yes
g
1
Sets speed
command value
conditions (Pn10d).
2
Sets acceleration
command value
conditions (Pn10E)
3
Sets deviation pulse
value conditions
(Pn10F)
4
No P control
switching function
1
Speed
control loop
0
PI control
control loop
switching
1
P control
2, 3
Not used.
0
(Do not change
setting.)
Pn10C
P control
switching
(torque
command)
Sets level of torque command to switch from PI
control to P control.
200
200
%
0 to 800
---
Pn10d
P control
switching
(speed
command)
Sets level of speed command to switch from PI
control to P control.
0
0
r/min
0 to
10000
---
Pn10E
P control
switching
(accelera-
tion com-
mand)
Sets level of acceleration command to switch from PI
control to P control.
0
0
10 r/min/s
0 to 3000 ---
Pn10F
P control
switching
(deviation
pulse)
Sets level of deviation pulses to switch from PI
control to P control.
10
0
Command
unit
0 to
10000
---
Pn110
Online
autotuning
setting
0
Selects
online
auto-tuning
0
Auto-tunes initial
operations only after
power is turned ON.
0012
0010
---
---
Yes
g
g
1
Always auto-tunes.
2
No auto-tuning
1
Selects
speed feed-
back com
0
ON
back com-
pensation
function
1
OFF
2
Selects
adhesive
f i ti
0
Friction
compensation: OFF
friction
compensa-
tion function
1
Friction
compensation: rated
torque ratio small
2
Friction
compensation: rated
torque ratio large
3
Not used.
0
(Do not change
setting.)
Appendix
Chapter 6
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