Instruction manual

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5. PARAMETERS
Control Mode
No. Symbol Name and Function
Initial
Value
Unit
Setting
Range
Position Speed Torque
PB07 PG1 Model loop gain
Set the response gain up to the target position.
Increase the gain to improve trackability in response to the
position command.
When auto turning mode 1,2 is selected, the result of auto turning
is automatically used.
24 rad/s 1
to
2000
PB08 PG2 Position loop gain
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load
disturbance. Higher setting increases the response level but is
liable to generate vibration and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected,
the result of auto tuning is automatically used.
37 rad/s 1
to
1000
PB09 VG2 Speed loop gain
Normally this parameter setting need not be changed.
Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1
2, manual mode and interpolation
mode is selected, the result of auto tuning is automatically used.
Note. The setting range of 50000 applies to the servo amplifier
whose software version is A3 or later. The setting range of
the servo amplifier whose software version is older than A3
is 20 to 20000. When the software version of MR
Configurator is A3 or earlier, 20001 or more cannot be set.
Use the display/operation section of the servo amplifier to
set 20001 or more.
823 rad/s 20
to
50000
(Note)
PB10 VIC Speed integral compensation
Used to set the integral time constant of the speed loop.
Higher setting increases the response level but is liable to
generate vibration and/or noise.
When auto tuning mode 1
2 and interpolation mode is selected,
the result of auto tuning is automatically used.
33.7 ms 0.1
to
1000.0
PB11 VDC Speed differential compensation
Used to set the differential compensation.
Made valid when the proportion control (PC) is switched on.
980 0
to
1000
PB12 For manufacturer setting
Do not change this value by any means.
0
PB13 NH1 Machine resonance suppression filter 1
Set the notch frequency of the machine resonance suppression
filter 1.
Setting parameter No. PB01 (filter tuning mode 1) to "
1"
automatically changes this parameter.
When the parameter No. PB01 setting is "
0", the setting of
this parameter is ignored.
4500 Hz 100
to
4500