3-25
j
Adjusting the Speed Loop Integration Time Constant
PRM
No.
Parameter name
Factory
setting
Unit
Setting
range
Explanation
Cn-05
Speed loop integra-
tion constant
20
1 ms
2 to
10,000
Speed loop integration constant.
As the constant is increased, the response
is shortened and the resiliency toward ex-
ternal force is weakened. If it is set too
short, vibration will occur.
When the speed loop integration time constant is manipulated, the response is as shown in the diagram
below.
Motor speed
(speed monitor)
Time
When speed loop integral time constant is short.
When speed loop integral time
constant is long.
PRM
No.
Parameter name
Factory
setting
Unit
Setting
range
Explanation
Cn-17
Torque command
filter time constant
4
0.1 ms
0 to 250
Sets torque command filter time constant.
Increase the time constant to reduce os-
cillation and vibration due to machinery res-
onance frequency.
The filter characteristic is switched using
the torque command filter time constants.
Cn-1A
Position loop gain
40
1/s
1 to 500
For servo-lock strength adjustment when
position lock function is used. Adjust to
match mechanical rigidity.
Operation
Chapter 3
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