Appendix A
Parameter
- 141 -
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
on will occur if the value is set too large.
Unit: %
Pn113
Feedforward
filter
Immediately
P
It is used to ease mechanical vibration due to
position feedforward. The feedforward lag will be
enlarged and result to vibration if the value is set
too large.
Unit: 0.1ms
Pn114
Torque
feedforward
Immediately
P
，
S
It is used to set torque feedforward, and enhance
response speed.
Set the load inertia percentage(Pn106) correctly
to enable this function in manual gain adjustment
mode.
Unit: %
Pn115
Torque
feedforward
filter
Immediately
P
，
S
It is used to ease mechanical vibration due to
torque feedforward.
Unit: 0.1ms
Pn116
P/PI switching
condition
After restart
P
，
S
0:Torque reference percentage
1:Value of offset counter
2:Value of acceleration speed setting
3:Value of speed setting
4:Fixed PI
Pn117
Torque switching
threshold
After restart
P
，
S
Threshold of torque to switch PI control to P
control.
Unit: %
Pn118
Offset counter
switching
threshold
Immediately
P
Threshold of error counter to switch PI control to
P control.
Unit: puls
Pn119
Setting
acceleration
speed switching
threshold
Immediately
P
，
S
Threshold of acceleration speed to switch PI
control to P control.
Unit: 10rpm/s
Pn120
Setting speed
switching
threshold
Immediately
P
，
S
Threshold of speed to switch PI control to P
control.
Unit: rpm
Pn121
Gain switching
condition
After restart
P
，
S
0:Fix to 1st group gain
1:External switch gain switching(G-SEL)
2:Torque percentage
3:Value of offset counter
4:Value of acceleration speed setting
（
10r/min
）
5:Value of speed setting
6:Speed reference input
Pn122
Switching
delay
time
Immediately
P
，
S
Delay time of switching gain when switching
condition is satisfied.
Pn123
Switch threshold
level
Immediately
P
，
S
Gain switching trigger level
Pn124
Reserved
