Torque feedforward:
Torque feedforward gain (Kp)
Increase this parameter can improve the rigidity, but it maybe overshoot.
Torque feedforward filter time
6-2．Parameter switching
There are 6 switching modes for speed mode and position mode. It provides solution for the problem of
external load changing but control parameters cannot change immediately.
Gain switching in position mode:
Position gain switching mode
Use group 1 parameters (P1-00~P1-04)
Use group 2 parameters (P1-05~P1-09)
Choose the group through external terminal (chapter
6-2-1)
When torque command less than P1-16, use group 1;
when torque command larger than P1-16, use group 2
When speed command less than P1-16, use group 1;
when speed command larger than P1-16, use group 2.
When position offset less than P1-16, use group 1;
when position offset larger than P1-16, use group 2.
When speed feedback less than P1-16, use group 1;
when speed feedback larger than P1-16, use group 2.
Position gain switching comparison value
Position gain switching comparison value hysteresis loop
Note: hysteresis loop please refer to chapter 5-11-4
Gain switching in speed mode:
Speed gain switching mode
Use group 1 parameters (P1-00~P1-04)
Use group 2 parameters (P1-05~P1-09)
Choose the group through external terminal (chapter
6-2-1)
When torque command less than P1-20, use group 1;
when torque command larger than P1-20, use group 2
When speed command less than P1-20, use group 1;
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