91
P1.55
Position loop gain 1
Default value
***
Setting range
1~2000 [rad/s]
P1.56
Speed loop gain 1
Default value
***
Setting range
1~2000 [Hz]
P1.57
Speed loop integration time constant 1
Default value
***
Setting range
0.5~1000.0 [ms]
Position loop gain 1: Position disturbance response setting. A larger setting improves the response
characteristics.
Speed loop gain 1: Speed disturbance setting. A larger setting improves the response characteristics.
Speed loop integration time constant 1: Integration time constant setting of speed response. A smaller
setting improves the response.
Too much a response characteristic may cause vibration or noise.
Automatic adjustment is made inside the amplifier if P1.13 (tuning mode selection) is other than 12 (manual
tuning).
P1.58
Feed forward gain 1
Default value
0.000
Setting range
0.000~1.500
A larger setting decreases the position deviation amount, improving the response characteristics.
Set at 1.000 to reduce the position deviation at a constant speed to almost zero (except during acceleration
or deceleration).
Use this parameter to increase the synchronization accuracy between two axes of synchronous control or
similar.
For regular point-to-point operation, set the parameter at 0.500 or less (approximate value).
P1.59
Torque filter time constant for position and speed control
Default value
***
P1.60
Torque filter time constant for torque control
Default value
0.00
Setting range
0.00~20.00 [ms]
Torque filter time
constant for position
and speed control
This parameter is enabled under speed and position control.
Add a filter to internal torque commands.
The response of the servo system is improved and resonance is suppressed.
In particular, the reference value should be larger with large load inertia.
Automatic adjustment is made inside the amplifier in other than the manual tuning mode.
Set P1.94 at 0 to allow manual settings.
Torque filter time
constant for torque
control
The parameter is enabled under torque control. Add a filter to external torque
commands. Good effects can be expected for a system prone to electric noise or one
with fluctuation in the command voltage.
