Appendix A
Parameter
- 139 -
Para
Para
Para
Para....
No.
No.
No.
No.
Description
Description
Description
Description
Setting
Setting
Setting
Setting
Validation
Validation
Validation
Validation
Control
Control
Control
Control
Mode
Mode
Mode
Mode
Func tion
Func tion
Func tion
Func tion and
and
and
and Meaning
Meaning
Meaning
Meaning
[2] Reserved
[3] Reserved
Pn005.3
Pn005.3
Pn005.3
Pn005.3 Servomotor
Servomotor
Servomotor
Servomotor model
model
model
model selection
selection
selection
selection
[0]EMJ
[1]EMG
[2]EML
[3]EMB
Pn006
Hex
After restart
Pn006.0
Pn006.0
Pn006.0
Pn006.0 Bus
Bus
Bus
Bus type
type
type
type selection
selection
selection
selection
[0]No bus
[1]PROFIBUS-DP V0/V1
[2]PROFIBUS-DP V2
Pn006.1
Pn006.1
Pn006.1
Pn006.1 Reserved
Reserved
Reserved
Reserved
Pn006.2
Pn006.2
Pn006.2
Pn006.2 Low-frequency
Low-frequency
Low-frequency
Low-frequency vibration
vibration
vibration
vibration suppression
suppression
suppression
suppression
switch
switch
switch
switch
[0]Low-frequency vibration suppression function
disabled
[1]Low-frequency vibration suppression function
enabled
Pn006.3
Pn006.3
Pn006.3
Pn006.3 Reference
Reference
Reference
Reference
input
input
input
input
filter
filter
filter
filter
for
for
for
for
open
open
open
open
collector
collector
collector
collector signal
signal
signal
signal
Pn100
Realtime
autotuning
setting
After restart
P
，
S
[0] Manual gain adjustment
[1,2,3] Normal mode
[4,5,6] Vertical load
[1,4] Load inertia without variation
[2,5] Load inertia with little variation
[3,6] Load inertia with great variation
Note
Note
Note
Note
：
1.Autotuning
is
invalid
when
servomotor
max.speed is less than 100rpm.Manual gain
adjustment is used.
2.Autotuning
is
invalid
when
servomotor
acceleration
/deceleration speed is less than 5000rpm/s.
Manual gain adjustment is used.
3.Autotuning
is
invalid
when
mechanical
clearance is too big during operation. Manual
gain adjustment is used.
4.Autotuning is invalid when the difference of
different speed load is too great. Manual gain
adjustment is used.
Pn101
Load
rigidity
selection
Immediately
P
，
S
The
response
speed
of
servo
system
is
determined by this parameter. Normally, the
rigidity should be set a little larger. But if it is too
large, it would suffer mechanical impact. It should
be set a little smaller when large vibration is
present. This parameter is only valid in autotuning.
