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5. PARAMETERS
(2) Auto tuning response (parameter No.PA09)
If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Setting Response
Guideline for machine
resonance frequency [Hz]
Setting Response
Guideline for machine
resonance frequency [Hz]
1 Low response 10.0 17 Middle response 67.1
2
11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 52.9 31 355.1
16 Middle response 59.6 32 High response 400.0
5.1.10 In-position range
Parameter
Initial
value
Unit
Setting
range
Control mode
No. Symbol Name Position Speed Torque
PA10 INP In-position range 100 pulse
0 to
65535
(Note)
Note. For the software version C0 or older servo amplifiers, the setting range is 0 to 10,000.
Set the range, where In-position (INP) is output, in the command pulse unit before calculation of the electronic
gear. With the setting of parameter No.PC24, the range can be changed to the encoder output pulse unit.
Servo motor droop pulse
In-position range [pulse]
Command pulse
Command pulse
Droop pulse
In-position (INP)
ON
OFF