User`s manual

6-11
6
Parameter description
6. Parameter description
(4) Control constant parameters
Parameter
No.
Parameter name Setting range
Default
setting
Units
Change
during
operation
RDX RDP
Fd-00
Moment of inertia (RDX)
Mover mass (RDP)
"Motor rotor
inertia" to "motor
rotor inertia × 128"
Depends on model ×10
-4
kg·m
2
×10kg Yes
Fd-01
Speed control cut-off
frequency
0.1 to 500.0
Depends on model Hz Yes
Fd-02
Speed control
proportional gain
0.01 to 300.00
Depends on model %Yes
Fd-03
Speed control integral gain 0.01 to 300.00 Depends on model %Yes
Fd-04 P-control gain 0.1 to 99.9
Depends on model %Yes
Fd-05 IP-control gain 0.00 to 1.00
Depends on model –Yes
Fd-06
Torque command filter
time constant
0.00 to 500.00
Depends on model ms Yes
Fd-07
Position phase
compensating ratio
0.01 to 9.99 Depends on model –Yes
Fd-08
Position phase
compensating time
constant
0.1 to 999.9
Depends on model ms Yes
Fd-09
Position control cut-
off frequency
0.01 to 99.99
Depends on model Hz Yes
Fd-10
Position feed forward gain 0.00 to 1.00 Depends on model –Yes
Fd-12
Notch filter 1
frequency
3.0 to 1000.0
Depends on model Hz Yes
Fd-13
Notch filter 1
bandwidth
0 to 40 Depends on model dB Yes
Fd-14
Notch filter 2
frequency
3.0 to 1000.0 Depends on model Hz Yes
Fd-15
Notch filter 2
bandwidth
0 to 40 Depends on model dB Yes
Fd-20
Speed command filter
time constant
0 to 60000 Depends on model ms Yes
Fd-30 Gain change mode
non, AUto
Depends on model –Yes
GCH
(Note 2)
Fd-31
Position error width
for gain change
0 to 65535 Depends on model pulses Yes
Fd-32
Second position
control cut-off
frequency
0.01 to 99.99
Depends on model Hz Yes
Fd-33
Position gain change
time constant
0.0 to 500.0
Depends on model ms Yes
Fd-36
Position command
filter time constant
0 to 60000
Depends on model ms Yes
Fd-40 Fast positioning mode non, FASt, FoL
Depends on model –Yes
Fd-41
Position feed forward
filter time constant
0.00 to 500.00
Depends on model ms Yes
Fd-42
Position error filter gain 0 to 100 Depends on model %Yes
Fd-44
(Note 1)
Speed feedback filter
time constant
0.00 to 500.00 Depends on model ms No
Fd-46
(Note 1)
Mover mass for pole
position estimation
"Robot mass" to
"robot mass × 128"
Depends on model ×10kg No
Fd-47
(Note 1)
Speed control cut-
off frequency for pole
position estimation
0.1 to 500.0
Depends on model Hz No
Fd-48
(Note 1)
Gain change time
constant after pole
position estimation
0.0 to 500.0
Depends on model ms No
Note 1: Displayed on RDP only.
Note 2: Do not change the setting.