9 Details on Servo Parameter Objects
9-10
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
*1 The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the second torque filter time constant.
• The objects from 3105 to 3109 hex are the gain and time constants to be selected when the Gain
Switching Input Operating Mode Selection (3114 hex) is enabled.
• The gain is switched according to the condition set in the Switching Mode (3115 hex, 3120 hex, and
3124 hex).
• If the mechanical system inertia changes greatly or if you want to change the responsiveness
depending on whether the motor is rotating or being stopped, you can achieve the appropriate control
by setting the gains and time constants beforehand for each of these conditions, and switching them
according to the condition.
• This object is automatically changed by executing realtime autotuning function. To set it manually, set
the Realtime Autotuning Mode Selection (3002 hex) to 0.
• Set the feed-forward gain.
• Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
• Refer to 11-11 Feed-forward Function on page 11-31.
• Set the time constant for the first-order lag filter inserted into the feed-forward.
• Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
• Refer to 11-11 Feed-forward Function on page 11-31.
• Set the feed-forward gain in torque control. Increasing the set value decreases the position error and
increases the responsiveness. Overshooting, however, will occur more easily.
• Refer to 11-11 Feed-forward Function on page 11-31.
• Set the time constant for the first-order lag filter inserted into the feed-forward.
• Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
• Refer to 11-11 Feed-forward Function on page 11-31.
3109 hex
Torque Command Filter Time Constant 2
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.
3110 hex
Speed Feed-forward Gain
Setting range 0 to 1000 Unit 0.1%
Default setting
300 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3111 hex
Speed Feed-forward Command Filter
Setting range 0 to 6400 Unit 0.01 ms
Default setting
50 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3112 hex
Torque Feed-forward Gain
Setting range 0 to 1000 Unit 0.1%
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3113 hex
Torque Feed-forward Command Filter
Setting range 0 to 6400 Unit 0.01 ms
Default setting
0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
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