4-75
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
Note
Related page
• A parameter is designated as follows:
Pr0.00 Parameter No.
Class
• For parameters which No. have a suffix of “
*
”
, changed contents will be validated
when you turn on the control power.
• P.3-32... “Inputs and outputs on connector X4”
Default: [ ]
1. Details of parameter
[Class 6] Special setting
7
Stiffness
setup
Enable/disable the basic gain setup to be made according to Pr0.03
Real time auto tuning mechanical stiffness selection.
Setup value
Function
[0]
Disable
1
Enable
*
To set this setting to a value other than 0, set Bits 3-2 (Inertia ratio
update) to 1 (enable). Inertia ratio is enabled/disabled by the setting
of Bits 1 and 0 (load characteristics measurement).
8
Fixed
parameter
setup
Enable/disable the change of parameter that is normally set at a fixed value.
Setup value
Function
[0]
Use the current setup.
1
Set to a fixed value.
*
To set this setting to a value other than 0, set Bits 3-2 (Inertia ratio
update) to 1 (enable). Inertia ratio is enabled/disabled by the setting
of Bits 1 and 0 (load characteristics measurement).
10 to 9
Gain
switching
setup
Select the gain switching related parameter to be used when the real
time auto tuning is enabled.
Setup value
Function
[0]
Use the current setup.
1
Disable gain switching.
2
Enable gain switching.
*
To set this setting to a value other than 0, set Bits 3-2 (Inertia ratio
update) to 1 (enable). Inertia ratio is enabled/disabled by the setting
of Bits 1 and 0 (load characteristics measurement).
Caution
This parameter should be setup bit by bit. To prevent setting error, use of the setup support
software is recommended when editing parameter.
Do not change this parameter while the motor is running. Updated parameters will be
effective when the motor stops after the result of load characteristics measurement is
confirmed.
<Setup procedure of bitwise parameter>
When setting parameter to a value other than 0, calculate the setup value of Pr6.32 in the
following procedure.
1) Identify the LSB of the setup.
Example: LSB of the torque compensation function is 4.
2) Multiply the setup value by power of 2 (LSB).
Example: To set the torque compensation function to friction compensation (middle):
2
4
× 4 = 64.
3) Perform steps 1) and 2) for every setups, sum up the values which are to be Pr6.32 setup value.
Example: Load characteristics measurement = enable, inertia ratio update = enable,
torque compensation = friction compensation (middle), stiffness setup = enable,
fixed parameter = set to a fixed value, gain switching setup = enable, then,
2
0
× 1 + 2
2
× 1 + 2
4
× 4 +2
7
× 1 + 2
8
× 1 + 2
9
× 2 = 1477
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