4-118
• After completing tuning, lower Pn111 to 10, and adjust Pn100, Pn101, Pn102, and Pn401 in the same
way.
4-8-9 Speed Feedback Filter (Position, Speed, Internally-set
Speed Control)
H Functions
• This function sets the primary filter for the speed feedback gain.
• Use the filter function when you cannot raise the speed loop feedback due to mechanical system
vibration, etc.
Note If you use the speed feedback compensation function, online auto-tuning will not operate normal-
ly. To use the speed feedback compensation function, turn OFF the online auto-tuning (Pn110.0 =
2).
H Parameters Requiring Settings
Parameter No. Parameter
Name
Explanation Reference
Pn308 Speed feedback
filter time
constant
Set the filter time constant for the speed feedback.
(Setting range: 0 to 65535 (x 0.01 ms).)
4-4-4 Parameter
Details
H Setting Procedure
• Measure the machinery vibration cycle, and set Pn508 (speed feedback filter time constant) to that
value.
4-8-10 P Control Switching (Position, Speed, Internally-set
Speed Control)
H Functions
• This function automatically switches the control method for the speed loop control from PI (proportion-
al integration) control to P (proportional) control.
• Normally, control is sufficient using the speed loop gain and position loop gain set by auto-tuning. (So
normally there is no need to change the setting.)
• Continual operation using PI control may cause switching to P control if the Servomotor speed over-
shoots or undershoots. (Switching to P control lowers the effective servo gain to stabilize the servo
system.) You can also reduce positioning time in this way.
Operation Chapter 4
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