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6. PARAMETERS
(2) Auto tuning response (parameter No.PA09)
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.
Setting Response
Guideline for machine
resonance frequency [Hz]
Setting Response
Guideline for machine
resonance frequency [Hz]
1 Low response 10.0 17 Low response 67.1
2 11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15
52.9 31
355.1
16 Middle response 59.6 32 Middle response 400.0
6.1.10 In-position range
Parameter
No. Symbol Name
Initial
value
Unit Setting range
PA10 INP In-position range 100 m 0 to 10000
Set the range, where In position (RXn1) and Movement completion (RXnC) are output, in the command pulse
unit before calculation of the electronic gear. With the setting of parameter No.PC24, the range can be
changed to the encoder output pulse unit.
Servo motor Droop pulse
In-position range [ m]
Command pulse
Command pulse
Droop pulse
In position (RXn1)
ON
OFF