CHAPTER 4 PARAMETER
The timing chart of each signal is shown below.
Feedback speed
Position loop gain
Position loop gain 1 (PA1_55)
Gain changing level (PA1_62)
Position loop gain 2 (PA1_64)
Time
Speed loop gain
Speed loop gain 1 (PA1_56)
Speed loop
Speed loop integration time constant 1 (PA1_57)
integration time
Feed forward gain Feed forward gain 1 (PA1_58)
Speed loop gain 2 (PA1_65)
Speed loop integration time constant 2 (PA1_66)
Feed forward gain 2 (PA1_67)
4
Gain switching time constant (PA1_63)
External switch
(Servo response switch)
OFF
ON
If external switch is selected as a gain changing factor, changeover to the second gain occurs during
OFF-to-ON transition as shown above. In this case, you can turn on or off at an arbitrary timing without
relations to the motor motion.
The gain of the go stroke and that of the return stroke of a reciprocal motion can be switched.
PA1_68 Acceleration compensation gain for position control
No.
Name
Setting range
Default
value
Change
68
Acceleration compensation gain 0 to 200 [%]
for position control
0
Always
Enter the following characteristics to the command.
A larger reference value reduces the position deviation caused during acceleration or deceleration
while improving following characteristic to position commands.
Too much reference value may cause vibration or noise.
PA1_70 to 76 Notch filter settings
No.
Name
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
Setting range
0: Disable 1: Enable
2: Enable (notch filter 1 only)
10 to 4000 [Hz]
0 to 40 [dB]
0 to 3
10 to 4000 [Hz]
0 to 40 [dB]
0 to 3
Default
value
Change
1 Always
4000
0
2
4000
0
2
Always
Always
Always
Always
Always
Always
Control Gain and Filter Setting Parameter 4-31