93
The timing chart of each signal is shown below.
Position loop gain
Speed loop gain
Feedback speed
Gain switch level
（
P1.62
）
Time
Speed loop integration
time constant
Position loop gain 2
（
P1.64
）
Position loop gain 1
（
P1.55
）
Speed loop integration time
constant 1
（
P1.57
）
Speed loop gain 1
（
P1.56
）
Feed forward gain 1
（
P1.58
）
Speed loop integration time
constant 2
（
P1.66
）
Speed loop gain 2
（
P1.65
）
Feed forward gain 2
（
P1.67
）
Feed forward gain
Gain switch time constant
（
P1.63
）
OFF
ON
External switch
(Servo response switch)
If external switch is selected as a gain switch cause, changeover to the second gain occurs during OFF-to-ON
transition as shown above.
In this case, you can turn on or off at an arbitrary timing without relations to the motor motion.
The gain of the go stroke and that of the return stroke of a reciprocal motion can be switched.
P1.68
Acceleration compensation gain
Default value
0
Setting range
0~200 [%]
Enter the following characteristics to the command.
A larger reference value reduces the position deviation caused during acceleration or deceleration while
improving following characteristic to position commands.
Too large reference value may cause vibration or noise.
P1.70
Automatic notch filter selection
Default value
1
Setting range
0: Disable
1: Enable
2: Enable (notch filter 1 only)
P1.71
Notch filter 1, frequency
Default value
4000
Setting range
10~4000 [Hz]
P1.72
Notch filter 1, attenuation
Default value
0
Setting range
0~40 [dB]
P1.73
Notch filter 1, width
Default value
2
Setting range
0~3
