Product specifications

Chapter 6 Setting up parameters
HA-680_V04 - 77 -
04: Speed feed-forward factor (position)
Function
This parameter specifies the factor used to give the first-order derivative value to a speed command.
Usually set this factor to 0.
This setting is usually required to improve the speed.
Setting
unit Lower limit Upper limit Default
- 0 9999 0
05: Acceleration feed-forwad factor (position)
Function
This parameter specifies the factor used to give the second-order derivative value to a torque command.
Usually set this factor to 0.
This setting is usually required to improve the speed.
Setting
unit Lower limit Upper limit Default
- 0 9999 0
06: Torque command filter (position / speed / torque)
Function
For the purpose of suppressing the self-excited oscillation with the mechanical system, this parameter
specifies the factor for the cutoff frequency of the low pass filter of a torque command.
Usually set this factor to 0.
Setting
unit Lower limit Upper limit Default
- 0 9999 0