6.1 Parameter
B6-39
ME0384-4A
● Servo Gain Number 1/2/3 (Parameters No. 120, 126, 132)
These parameters determine the response of the position control loop.
For details, refer to Parameter No. 7 "Servo Gain Number (page B6-11)".
● Positional Feedforward Gain 1/2/3 (Parameters No. 121, 127, 133)
Sets the feed forward gain amount of the position control system.
For details, refer to Parameter No. 71 "Positional Feedforward Gain (page B6-29)".
● Velocity Loop Proportional Gain 1/2/3 (Parameters No. 122, 128, 134)
This parameter determines the response of the speed control loop.
For details, refer to Parameter No. 31 "Velocity Loop Proportional Gain (page B6-19)".
● Velocity Loop Integral Gain 1/2/3 (Parameters No. 123, 129, 135)
This parameter determines the response of the speed control loop.
For details, refer to Parameter No. 32 "Velocity Loop Integral Gain (page B6-20)".
● Torque Filter Constant 1/2/3 (Parameters No. 124, 130, 136)
This parameter determines the filter time constant for the torque command.
For details, refer to Parameter No. 33 "Torque Filter Constant (page B6-21)".
● Current Control Width Number 1/2/3 (Parameters No. 125, 131, 137)
Set the control band of the current control system.
For details, refer to Parameter No. 54 "Current Control Width Number (page B6-25)".
[Reference] Refer to "3.7 Address Configuration / Position Table (page A3-48)".
[Servo Gain Switch Time Constant (Parameter No.138)]
No. Name Unit Input range
Default initial value setting
138
Servo gain switch time
constant
ms 10 to 2,000 10
If the position table is instructed to switch the servo gain set, switching will be completed after a
period that exceeds 3 times the setting time of this parameter after the operation of the specified
position No. starts.
Caution
● If the setting is shortened, operation of the actuator may become unstable due to
sudden gain change.
AC servo motor specification only
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