5. PARAMETERS
5 - 24
Control
mode
No./symbol/
name
Setting
digit
Function
Initial
value
[unit]
P S T
PB04
FFC
Feed forward
gain
Set the feed forward gain.
When the setting is 100%, the droop pulses during operation at constant speed are
nearly zero. However, sudden acceleration/deceleration will increase the overshoot.
As a guideline, when the feed forward gain setting is 100%, set 1 s or more as the
acceleration time constant up to the rated speed.
Setting range: 0 to 100
0
[%]
Set the load to motor inertia ratio or load to motor mass ratio.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details. When
the parameter is automatic setting, the value will vary between 0.00 and 100.00.
Setting range: 0.00 to 300.00
7.00
[Multiplier]
PB06
GD2
Load to motor
inertia ratio/
load to motor
mass ratio
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode))
Automatic setting
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4: (2 gain adjustment mode 2)
PB07
PG1
Model loop
gain
Set the response gain up to the target position.
Increasing the setting value will also increase the response level to the position
command but will be liable to generate vibration and/or noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details.
Setting range: 1.0 to 2000.0
15.0
[rad/s]
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode))
Manual setting
_ _ _ 1: (Auto tuning mode 1) Automatic setting
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2)
PB08
PG2
Position loop
gain
Set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load
disturbance but will be liable to generate vibration and/or noise.
The setting of the parameter will be the automatic setting or manual setting
depending on the [Pr. PA08] setting. Refer to the following table for details.
Setting range: 1.0 to 2000.0
37.0
[rad/s]
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1
(interpolation mode))
Automatic setting
_ _ _ 1: (Auto tuning mode 1)
_ _ _ 2: (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4: (2 gain adjustment mode 2) Automatic setting
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