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10 Appendix
10.2.2 Parameters
10-16
Pn10B
2
Application Function for Gain
Se
lect Switch
0000 to 5334 0000
Pn10C 2 Mode Switch (force reference) 0 to 800 1% 200 Immediately Tuning
6.9.5
Pn10F 2 Mode Switch (position error) 0 to 10000
1
reference
unit
0 Immediately Tuning
Pn11F 2
Position Integral Time
Constant
0 to 50000 0.1 ms 0 Immediately Tuning 6.9.7
Pn121 2 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning
6.8.2
Pn122 2
2nd Gain for Friction
Compensation
10 to 1000 1% 100 Immediately
Tuning
Pn123 2
Friction Compensation
Coefficient
0 to 100 1% 0 Immediately Tuning
Pn124 2
Friction Compensation
Frequency Correction
-10000 to
10000
0.1 Hz 0 Immediately Tuning
Pn125 2
Friction Compensation Gain
Correction
1 to 1000 1% 100 Immediately
Tuning
Pn131 2 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning
6.8.1
Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning
Pn135 2 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn136 2 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning
(cont’d)
Parameter
No.
Size
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
Mode Switch Selection
When
Enabled
Classification
Reference
Section
0 Uses internal force reference as the condition
(Level setting: Pn10C).
Immediately Setup
6.9.5
1 Uses speed reference as the condition (Level
setting: Pn181).
2 Uses acceleration as the condition (Level setting:
Pn182).
3 Uses position error as the condition (Level setting:
Pn10F).
4 No mode switch function available.
Speed Loop Control Method
When
Enabled
Classification
Reference
Section
0 PI control
After restart Setup
1 I-P control
2 to 3 Reserved (Do not change.)
Reserved (Do not change.)
Reserved (Do not change.)
4th 3rd 2nd 1st
digit digit digit digit
n.
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