5-62
5-16 User Parameters
5
Operating Functions
• Use this parameter to set the second speed loop integration time constant.
• Use this parameter to set the second speed feedback filter time constant.
• Use this parameter to set the second torque command filter time constant.
• The parameters from Pn18 to Pn1C are the gain and time constants to be selected when gain
switching is enabled in the Gain Switching Input Operating Mode Selection (Pn30).
• The gain is switched according to the condition set in the Control Gain Switch 1 Setting (Pn31).
• If the mechanical system inertia changes greatly or if you want to change the responsiveness
when the Servomotor is rotating and when it is being stopped, you can achieve the appropriate
control by setting the gains and time constants beforehand for each of these conditions, and switch
them according to the condition.
• These parameters are automatically changed by executing realtime autotuning. To set them
manually, set the Realtime Autotuning Mode Selection (Pn21) to 0.
• Gain switching is enabled only for position control.
• Use this parameter to set the frequency of notch filter 1 for resonance suppression.
• The notch filter function will be disabled if this parameter is set to 1500.
• Use this parameter to set the width of notch filter 1 for resonance suppression to one of 5 levels.
• Increasing the setting increases the notch width. Normally, use the default setting.
Pn1A
Speed Loop Integration Time Constant 2
Setting range 1 to 1000 Unit ms Default setting 50
Power OFF→ON
---
Pn1B
Speed Feedback Filter Time Constant 2
Setting range 0 to 5 Unit --- Default setting 0
Power OFF→ON
---
Pn1C
Torque Command Filter Time Constant 2
Setting range 0 to 2500 Unit 0.01 ms Default setting 100
Power OFF→ON
---
Pn1D
Notch Filter 1 Frequency
Setting range 100 to 1500 Unit Hz Default setting 1500
Power OFF→ON
---
Pn1E
Notch Filter 1 Width
Setting range 0 to 4 Unit --- Default setting 2
Power OFF→ON
---
Pn1F
Reserved
Setting range --- Unit --- Default setting ---
Power OFF→ON
---
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