6-18
MHT260a (Engl.)
(7) Basic parameter 31 to 45
Para. Name Setting range Initial value Change
31 Tuning method 0: Manual 1: Auto (low stiffness) 2: Auto (high stiffness) 1 Always
32 Load inertia ratio 0.0 to 100.0 times (in 0.1 step) 0.0 Always
33 Operation speed response 10 to 1000 [Hz] (in 1 step) 100 Always
34 Speed response at stoppage 10 to 1000 [Hz] (in 1 step) 100 Always
35 Stop detection width 5 to 100 [r/min] (in 1 step) 20 Always
36 Stop judgment time 0.00 to 1.00 [s] (in 0.01 step) 0.00 Always
37 Torque filter time constant 0.00 to 20.00 [ms] (in 0.01 step) 0.30 Always
38 Speed regulator integration time 1 to 1000 [ms] (in 1 step) 20 Always
39 Position controller gain 1 to 1000 (in 1 step) 50 Always
40 Feed forward gain 0.000 to 1.5000 ( in 0.001 step) 0.000 Always
41 Speed setting filter 0.0 to 20.0 [ms] (in 0.1 step) 0.0 Always
42 Speed feedback filter 0: OFF 1: ON 0 Always
43 Unused - - -
44 Vibration suppression time constant 10 to 1000 [ms] (in 1 step) 100 Always
45 Vibration suppression gain 0.00 to 1.00 (in 0.01 step) 0.00 Always
The motor response performance can be adjusted according to mechanical equipment system.
The auto-tuning presumes the load moment of inertia of mechanical equipment system and automatically adjusts various control gains of
the motor to drive the inertia optimally.
The auto-tuning is valid for general mechanical equipment system, but this may not be valid for the application like vertically moving transfer
equipment whose load torque frequently changes.
In this case, select “0 : Manual” for basic para. 31.
In order to activate the auto-tuning, set the following 2 parameters.
■ Tuning method (basic para. 31)
■ Operation speed response (basic para. 33)
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