7.1 Setting User Constants
■ Cn-001C: Bias
• Sets the position control bias. This constant is used depending on load conditions to shorten
positioning time.
• Allowable setting range: 0 to maximum motor speed [ x 100 reference units/s]
■ Cn-001D: Feed Forward Compensation
• Sets the feed forward compensation for the position controller.
• Allowable setting range: 0 to 100 [%]
■ Cn-0027: Feed Forward Reference Filter
• Sets the primary lag filter to add to the feed forward compensation.
• This constant can be used to reduce the impact of feed forward control.
• Allowable setting range: 0 to 64000 [Rs]
7.1.3 Torque-related Constants
The following torque-related user constants are available.
■ Cn-0006: Emergency Stop Torque
• Sets the stopping torque (deceleration by emergency stop torque with deceleration constant
Cn-0001 bit 8 set to 1) for overtravel.
• Allowable setting range: 0 to maximum torque [%]
■ Cn-0008: Forward Torque Limit
• Sets the motor torque limit for forward rotation (for reverse rotation with reverse rotation
mode).
• The motor torque will be controlled within this limit during forward rotation.
• Allowable setting range: 0 to maximum torque [%]
■ Cn-0009: Reverse Torque Limit
• Sets the motor torque limit for reverse rotation.
• The motor torque will be controlled within this limit during reverse rotation.
• Allowable setting range: 0 to maximum torque [%]
■ Cn-0017: Torque Reference Filter Time Constant
• Sets the primary lag filter to add to the reference torque for speed error and speed loop gain.
• This constant is used to prevent vibration due to mechanical resonance.
• Allowable setting range: 0 to 25000 [Rs]
■ Cn-0018: Torque Reference Filter Time Constant (Secondary)
• Sets a secondary lag filter. The filtering effect can be improved by applying a secondary lag
filter to the reference torque.
7 -3
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