6 Parameter Table
6
- 77 -
Function
Code
Parameter Name Setting Range Unit Default
ET Pro
CM
H08-23
Cutoff frequency of speed
feedback low-pass lter
100 to 4000 Hz 4000
Im Ru
PS
H08-24 PDFF control coefcient 0.0 to 100.0 - 100.0
Im Ru
PS
*: Based on switchover condition
Group H09: Automatic Gain Tuning Parameters
Function
Code
Parameter Name Setting Range Unit Default
ET Pro
CM
H09-00
Automatic gain tuning
mode selection
0: Disabled, gain parameters are set
manually
1: Automatic gain tuning mode, gain
parameters tuned automatically based on
stiffness table
2: Positioning mode, gain parameters
tuned automatically based on stiffness
table
- 0
Im Ru
PST
H09-01 Stiffness level selection 0 to 31 - 12
Im Ru
PST
H09-02
Mode selection of adaptive
notch
0: Parameters not updated
1: Only one notch (3rd notch) valid,
parameters updated in real time
2: Both notches (3rd and 4th notches)
valid, parameters updated in real time
3: Only detect resonance frequency
(displayed in H09-24)
4: Clear 3rd and 4th notches, restore
parameters to default setting
- 0
Im Ru
PST
H09-03
Online inertia auto-tuning
mode
0: Disabled
1: Enabled, update slowly
2: Enabled, always update
3: Enabled, update quickly
- 0
Im Ru
RST
H09-04
Suppression mode of low-
frequency resonance
0: Manually set parameters of low-
frequency resonance suppression lter
(H09-38 and H09-39)
1: Automatically set parameters of low-
frequency resonance suppression lter
(H09-38 and H09-39)
- 0
Im Ru
P
H09-05
Ofine inertia auto-tuning
mode
0: Positive and negative triangular wave
mode
1: Jog mode
- 0
Im St
PST
H09-06
Maximum speed for inertia
auto-tuning
100 to 1000 RPM 500
Im St
PST
H09-07
Time constant of
accelerating to max. speed
for inertia auto-tuning
20 to 800 ms 125
Im St
PST
H09-08
Interval after an inertia
auto-tuning
50 to 10000 ms 800
Im St
PST
H09-09
Motor revolutions for an
inertia auto-tuning
0.00 to 2.00 r -
- D
PST
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