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5. PARAMETERS
Classifi-
cation
No. Symbol Name and Function
Initial
Value
Unit
Setting
Range
9 RSP Servo response
Used to select the response level of auto tuning.
Auto tuning response level selection
If the machine hunts or generates large gear
sound, decrease the set value.
To improve performance, e.g. shorten the
settling time, increase the set value.
Set
value
Response
level
1
Low
response
Middle
response
High
response
Machine resonance
frequency guideline
15Hz
2
20Hz
3
25Hz
4
30Hz
5
35Hz
6
45Hz
7
55Hz
8
70Hz
9
85Hz
A
105Hz
B
130Hz
C
160Hz
D
200Hz
E
240Hz
F300Hz
0 00
0005 Refer to
name
and
function
column.
10 TLP Forward rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
reverse rotation regenerative mode.
In other than the test operation mode on the MR Configurator (servo
configuration software), the torque limit value on the servo system
controller side is made valid.
300 % 0
to
500
Basic DRU parameters
11 TLN Reverse rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
forward rotation regenerative mode.
In other than the test operation mode on the MR Configurator (servo
configuration software), the torque limit value on the servo system
controller side is made valid.
300 % 0
to
500
12 GD2
Ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of the load inertia moment to the servo motor
shaft inertia moment. When auto tuning mode 1 and interpolation
mode is selected, the result of auto tuning is automatically used.
(Refer to section 6.1.1)
In this case, it varies between 0 and 1000.
7.0 times 0.0
to
300.0
Adjustment DRU parameters
13 PG1 Position loop gain 1
Used to set the gain of position loop 1. Increase the gain to improve
trackability performance in response to the position command.
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
35 rad/s 4
to
2000