Chapter 4
4-24
Operation
• Sets the (primary) filter time constant for the internal torque command.
• When the mechanical resonance frequency is within the response frequency of the servo loop, Ser-
vomotor vibration will occur. To prevent this from occurring, set the torque command filter time con-
stant.
The relationship between the filter time constant and the cut-off frequency can be found by means of
the following formula:
fc (Hz) = 1/2
πT T: Filter time constant (s), fc: cut-off frequency
• Set the cut-off frequency to below the mechanical resonance frequency.
• Set Pn402 (forward torque limit) and Pn403 (reverse torque limit) as a percentage (%) of the Servo-
motor rated torque.
Note Refer to 4-7-3 Torque Limiting for details.
• Set the deviation counter to output INP (positioning completed output) during position control.
• INP turns ON when the deviation counter residual pulses reaches Pn500 or less.
• Set the deviation counter overload alarm detection level during position control.
• The servo alarm is turned ON when the deviation counter residual pulse setting is exceeded.
• Set the deviation counter overflow level to the number of command units (2 to 3 revolutions) appro-
priate for the system and operating pattern.
Pn401 Torque command filter time constant
Settings 0 to 65535 Unit
×0.01 ms Default 40 Restart? ---
Pn402 Forward torque limit
Settings 0 to 800 Unit % Default 350 Restart? ---
Pn403 Reverse torque limit
Settings 0 to 800 Unit % Default 350 Restart? ---
Pn500 Positioning completed range
Settings 0 to 250 Unit Command
units
Default 3 Restart? ---
Pn505 Deviation counter overflow level
Settings 1 to 32767 Unit
×256 com-
mand units
Default 1024 Restart?---
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