5-18
Basic gain parameter setup table
Stiffness
1st gain/2nd gain Command response
Adjustment
filter
load variation
suppression
function
Pr1.00
Pr1.05
Pr1.01
Pr1.06
Pr1.02
Pr1.07
Pr1.04
Pr1.09
Pr2.22 Pr6.48
*
1
Pr6.24
Position
loop
[0.1 /s]
Velocity
loop
[0.1 Hz]
Velocity
loop
integration
[0.1 ms]
Torque
[0.01 ms]
Time
constant [0.1 ms]
Time
constant
[0.1 ms]
Load fiuctuation
compensation
filter
[0.01 ms]
Standard
response
mode
Quick
response
mode
1 to 3
0 20 15 3700 1500 1919 764 155 2500
1 25 20 2800 1100 1487 595 115 2500
2 30 25 2200 900 1214 486 94 2500
3 40 30 1900 800 960 384 84 2500
4 45 35 1600 600 838 335 64 2500
5 55 45 1200 500 668 267 54 2500
6 75 60 900 400 496 198 44 2500
7 95 75 700 300 394 158 34 2120
8 115 90 600 300 327 131 34 1770
9 140 110 500 200 268 107 24 1450
10 175 140 400 200 212 85 23 1140
11 320 180 310 126 139 55 16 880
12 390 220 250 103 113 45 13 720
13 480 270 210 84 92 37 11 590
14 630 350 160 65 71 28 9 450
15 720 400 140 57 62 25 8 400
16 900 500 120 45 50 20 7 320
17 1080 600 110 38 41 17 6 270
18 1350 750 90 30 33 13 5 210
19 1620 900 80 25 28 11 5 180
20 2060 1150 70 20 22 9 4 140
21 2510 1400 60 16 18 7 4 110
22 3050 1700 50 13 15 6 3 90
23 3770 2100 40 11 12 5 3 80
24 4490 2500 40 9 10 4 3 60
25 5000 2800 35 8 9 4 2 60
26 5600 3100 30 7 8 3 2 50
27 6100 3400 30 7 7 3 2 50
28 6600 3700 25 6 7 3 2 40
29 7200 4000 25 6 6 2 2 40
30 8100 4500 20 5 6 2 2 40
31 9000 5000 20 5 5 2 2 40
*
1 The value of Pr6.48 Adjustment lter has additional value 1 for B to F frames.
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Standard type
Note
•
For details of parameters, refer to P.4-16 “Details of parameter”.
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