CHAPTER 4 PARAMETER
4.3 Control Gain and Filter Setting Parameter
Parameters marked "" in the "Power" field is enabled after the power is turned off then
turned on again. (Check that the display (7-segment display) on the servo amplifier is unlit
when the power is turned off.)
4.3.1 List (PA1_)
No.
PA1_
Name
51 Moving average S-curve time
52 Low-pass filter (for S-curve) time constant
53 Command pulse smoothing function
54 Position command response time constant
55 Position loop gain 1
56 Speed loop gain 1
57 Speed loop integration time constant 1
58 Feed forward gain 1
59
Torque filter time constant for position and speed
control
60 Torque filter time constant for torque control
61 Gain changing factor
62 Gain changing level
63 Gain changing time constant
64 Position loop gain 2
65 Speed loop gain 2
66 Speed loop integration time constant 2
67 Feed forward gain 2
68 Acceleration compensation gain for position control
70 Automatic notch filter selection
71 Notch filter 1, frequency
72 Notch filter 1, attenuation
73 Notch filter 1, width
74 Notch filter 2, frequency
75 Notch filter 2, attenuation
76 Notch filter 2, width
77 Automatic vibration suppression selection
78 Vibration suppressing anti resonance frequency 0
79
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 0
80 Vibration suppressing anti resonance frequency 1
81
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 1
82 Vibration suppressing anti resonance frequency 2
83
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 2
Default
value
***
0.0
0
***
***
***
***
0.000
***
0.00
1
50
1
100
100
100
100
0
1
4000
0
2
4000
0
2
0
300.0
0
300.0
0
300.0
0
Default value: *** Determined in auto tuning.
Power
Control mode
Record of
Position Speed Torque reference value
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Control Gain and Filter Setting Parameter 4-27
4