11 Appendix
11.2.2 Parameters
11-14
Pn10B
Application Function for Gain Select
Switch
0000 to 5334 − 0000 − Setup −
Pn10C Mode Switch (torque reference) 0 to 800 1% 200 Immediately Tuning
6.9.5
Pn10D Mode Switch (speed reference) 0 to 10000
1 min
-1
0 Immediately Tuning
Pn10E Mode Switch (acceleration) 0 to 30000
1 min
-1
/
s
0 Immediately Tuning
Pn10F Mode Switch (position error pulse) 0 to 10000
1 refer-
ence unit
0 Immediately Tuning
Pn11F Position Integral Time Constant 0 to 50000 0.1 ms 0 Immediately Tuning 6.9.7
Pn121 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning
6.8.2
Pn122 2nd Gain for Friction Compensation 10 to 1000 1% 100 Immediately Tuning
Pn123 Friction Compensation Coefficient 0 to 100 1% 0 Immediately Tuning
Pn124
Friction Compensation Frequency
Correction
-10000 to
10000
0.1 Hz 0 Immediately Tuning
Pn125
Friction Compensation Gain Correc-
tion
1 to 1000 1% 100 Immediately Tuning
Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning
6.8.1
Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning
Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0
1
2
3
4
Uses internal torque reference as the condition (Level setting: Pn10C)
Uses speed reference as the condition (Level setting: Pn10D)
Uses acceleration as the condition (Level setting: Pn10E)
Uses position error pulse as the condition (Level setting: Pn10F)
No mode switch function available
Mode Switch Selection (Refer to 6.8.5.)
Reserved (Do not change.)
4th
digit
3rd
digit
2nd
digit
1st
digit
n.
Immediately
When
Enabled
0
1
2 and 3
PI control
I-P control
Reserved (Do not change.)
Speed Loop Control Method (Refer to 6.8.4.)
After restart
When
Enabled
Reserved (Do not change.)
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