9-9
9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-2 Gain Settings
9
• Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
• Increasing the set value increases the time constant and decreases the noise generated by the
motor. Responsiveness, however, also decreases.
• Normally, use the default set value.
*1 The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the time constant for the first-order lag filter inserted into the torque command.
• This object may be effective in suppressing vibration due to torsion resonance.
*1 The default setting is 380 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the responsiveness of the position control system for the second position loop.
*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the responsiveness of the second speed loop.
• Set the second speed loop integral time constant.
• Set the second speed feedback filter.
3103 hex
Speed Feedback Filter Time Constant 1
Setting range 0 to 5 Unit −
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3104 hex
Torque Command Filter Time Constant 1
Setting range 0 to 2500 Unit 0.01 ms
Default setting
84
*1
Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3105 hex
Position Loop Gain 2
Setting range 0 to 30000 Unit 0.1/s
Default setting
570
*1
Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3106 hex
Speed Loop Gain 2
Setting range 1 to 32767 Unit 0.1 Hz
Default setting
270
*1
Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3107 hex
Speed Loop Integral Time Constant 2
Setting range 1 to 10000 Unit 0.1 ms
Default setting
10000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3108 hex
Speed Feedback Filter Time Constant 2
Setting range 0 to 5 Unit −
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
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