User`s manual

10 Appendix
10-16
Pn10B
Application Function for Gain Select Switch 0000 to 5334 − 0000 −−
Pn10C
Mode Switch (Torque Reference)
(Rotational servomotors)
0 to 800 1% 200 Immediately Tuning
Mode Switch (Force Reference)
(Linear servomotors)
Pn10D
*1
Mode Switch (Speed Reference) 0 to 10000
1 min
-1
0 Immediately Tuning
Pn10E
*1
Mode Switch (Acceleration) 0 to 30000
1 min
-1
/ s
0 Immediately Tuning
Pn10F Mode Switch (Position Error Pulse) 0 to 10000
1 refer-
ence unit
0 Immediately Tuning
Pn11F Position Integral Time Constant 0 to 50000 0.1 ms 0 Immediately Tuning
Pn121 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning
Pn122 2nd Gain for Friction Compensation 10 to 1000 1% 100 Immediately Tuning
Pn123 Friction Compensation Coefficient 0 to 100 1% 0 Immediately Tuning
Pn124
Friction Compensation Frequency
Correction
-10000 to
10000
0.1 Hz 0 Immediately Tuning
Pn125 Friction Compensation Gain Correction 1 to 1000 1% 100 Immediately Tuning
Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn132 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning
Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning
Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning
∗1. Parameter exclusive for rotational servomotors
(cont’d)
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
0
1
2
3
4
Uses internal torque reference as the condition (Level setting: Pn10C).
(Rotational servomotors)
Uses internal force reference as the condition (Level setting: Pn10C).
(Linear servomoros)
Uses speed reference as the condition (Level setting: Pn10D).
(Rotational servomotors)
Uses speed reference as the condition (Level setting: Pn181).
(Linear servomoros)
Uses acceleration as the condition (Level setting: Pn10E).
(Rotational servomotors)
Uses acceleration as the condition (Level setting: Pn182).
(Linear servomoros)
Uses position error pulse as the condition (Level setting: Pn10F).
No mode switch function available
Mode Switch Selection
Reserved (Do not change.)
4th
digit
3rd
digit
2nd
digit
1st
digit
n.
Immediately
After
restart
When
Enabled
0
1
2 and 3
PI control
I-P control
Reserved (Do not change.)
Speed Loop Control Method
When
Enabled
Reserved (Do not change.)
Setup
Classification
Setup
Classification