Details on Servo Parameter Objects

This chapter explains the settings of each object.

9-1 Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9-2 Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-7
9-3 Vibration Suppression Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-20
9-4 Analog Control Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-26
9-5 Interface Monitor Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-31
9-6 Extended Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-41
9-7 Special Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-47

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9 Details on Servo Parameter Objects

9-1 Basic Settings

This section describes objects specific to G5-series Servo Drives with built-in EtherCAT
communications. G5-series Servo Drive parameters (Pn) are allocated to objects 3000 to 3999
hex. Index 3 hex correspond to G5-series Servo Drive parameters Pn. For example, object
3504 hex is the same as parameter Pn504.

Precautions for Correct Use

Pn uses decimal numbers but object 3 is a hexadecimal number.

• Some objects are enabled by turning the power supply OFF and then ON again. After changing these
objects, turn OFF the power supply, confirm that the power supply indicator has gone OFF, and then
turn ON the power supply again.
• Do not change the objects marked “reserved.” Also, do not change the set values that are indicted as
being unused or reserved for the system.
• See below for the data attributes.

A : Always enabled
B : Prohibited to change during motor rotation or commands.
If it is changed during motor rotation or commands, the update timing will be unknown.
C : Updated after the control power is reset, or after a Config command is executed via EtherCAT
communications.
D : Changeable only when the EtherCAT communications state is Pre-Operational (Pre-Op).
R : Updated when the control power supply is reset.
It is not updated for a Config command via EtherCAT communications.
− : Write prohibited.

• The operation modes are shown as follows:

All : All operation modes

csp : Cyclic synchronous position mode

csv : Cyclic synchronous velocity mode

cst : Cyclic synchronous torque mode

pp : Profile position mode

hm : Homing mode

(semi) : Only objects related to semi-closed control.

(full) : Only objects related to fully-closed control.

3000 hex Rotation Direction Switching All

Setting range 0 to 1 Unit − Default setting 1 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• This object switches the motor rotation direction for a position, speed, or torque command.

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 9 Details on Servo Parameter Objects

Explanation of Set Values

Set value Description

0 A forward direction command sets the motor rotation direction to clockwise.
1 A forward direction command sets the motor rotation direction to counterclockwise.

• The motor rotation direction when viewing the shaft from the load side is called clockwise (CW) or
counterclockwise (CCW).

CW
CCW

3001 hex Control Mode Selection All

Setting range 0 to 6 Unit − Default setting 0 Data attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the control mode to be used.

Explanation of Set Values

Set value Description

0 to 5 Semi-closed control *1

6 Fully-closed control

*1 Set any value between 0 and 5 for semi-closed control.

3002 hex Realtime Autotuning Mode Selection

9-1 Basic Settings

All
Setting range 0 to 6 Unit − Default setting 1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the operating mode for realtime autotuning.

• Refer to 11-3 Realtime Autotuning on page 11-7.

Explanation of Set Values 9

Set value Realtime autotuning Description
0 Disabled Realtime autotuning is disabled.
1 Focus on stability No unbalanced load, friction compensation, or gain switching.
(default setting)
2 Focus on position Used for a horizontal axis or other axes that have no unbalanced load, or
control for a ball screw drive with little friction.
3 Vertical axis Used when an unbalanced load is present, such as a vertical axis.
4 Friction Used when friction is large (unbalanced load also calculated).
compensation and Used for a belt-driving shaft with large friction. Variations in finalizing the
vertical axis positioning are suppressed.
5 Load characteristic Used only for estimating load characteristics.
estimation
6 Customization This mode is used for customizing the realtime autotuning function by
using the Realtime Autotuning Customization Mode Setting (3632 hex).

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 9 Details on Servo Parameter Objects

3003 hex Realtime Autotuning Machine Rigidity Setting All

Setting range 0 to 31 Unit − Default setting 13 *1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 11 for a Drive with 200 V and 1 kW or greater, or for a Drive with 400 V.
• Set the machine rigidity to one of 32 levels when realtime autotuning is enabled.
• The higher the machine rigidity set value is, the higher the responsiveness is, however, the more
vibration occurs.

Low ←Machine rigidity→ High

Low ←Servo gain→ High
3003 hex 0.1 - - - - - - - - - - - - - - - 31
Low ←Responsiveness→ High
• Refer to 11-3 Realtime Autotuning on page 11-7.

Precautions for Correct Use

• If the set value is changed suddenly by a large amount, the gain may change rapidly,
subjecting the machine to shock. Always start with a small setting, and gradually increase the
setting while monitoring machine operation.

3004 hex Inertia Ratio All

Setting range 0 to 10000 Unit % Default setting 250 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the load inertia as a percentage of the motor rotor inertia.

• 3004 hex = (Load inertia/Rotor inertia) × 100%
• When realtime autotuning is enabled, the inertia ratio is continuously estimated and saved in
EEPROM every 30 minutes.
• If the inertia ratio is set correctly, the setting unit for the Speed Loop Gain 1 (3101 hex) and Speed
Loop Gain 2 (3106 hex) is Hz.
• If the Inertia Ratio (3004 hex) is set larger than the actual value, the setting for speed loop gain will
increase. If the Inertia Ratio (3004 hex) is set smaller than the actual value, the setting for speed loop
gain will decrease.

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 9 Details on Servo Parameter Objects

3013 hex External Torque Limit 1 All

Setting range 0 to 5000 Unit 0.1 % Default setting 5000*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 It is limited by the maximum torque of the connected motor.

• Set the limit values for the motor output torques (3013 hex: External Torque Limit 1, 3522 hex:
External Torque Limit 2).
• Refer to the Torque Limit Selection (3521 hex) for the torque limit selection.
• During torque control, it limits the maximum torque in forward and reverse directions. The settings on
the Torque Limit Selection (3521 hex) and the External Torque Limit 2 (3522 hex) are ignored.
• Set the value in units of 0.1% of the rated torque (100%).
E.g. When the set value is 1500, the maximum torque is limited to 150.0%.

Torque [%] Forward

direction
300 (max)

If 3013 and 3522 hex = 150. 200

100 (rating)

Speed
100 (rating) (max)

200

300
Reversed
direction
• Refer to 7-7 Torque Limit Switching on page 7-24 for the torque control and the torque limit selection.

9-1 Basic Settings

3015 hex Operation Switch when Using Absolute Encoder
All (semi)
Setting range 0 to 2 Unit − Default setting 2 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the operating method for the 17-bit absolute encoder.

9
Explanation of Set Values

Set value Description

0 Use as absolute encoder.
1 Use as incremental encoder.
2 Use as absolute encoder but ignore multi-rotation counter overflow.

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 9 Details on Servo Parameter Objects

3016 hex Regeneration Resistor Selection All

Setting range 0 to 3 Unit − Default setting 3*1 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 0 for a Drive with 100 V and 400 W, with 200 V and 750 W or greater, or with 400 V.
• The setting is different whether the Regeneration Resistor built in the Drive is directly used, or it is
removed and replaced by an External Regeneration Resistor. In the latter case, the resistor is
connected to the External Regeneration Resistor connection terminal.

Explanation of Set Values

Set value Description

0 Regeneration Resistor used: Built-in Resistor
The regeneration processing circuit operates and the Regeneration Overload Error (Error
No. 18.0) are enabled according to the Built-in Resistor (with approx. 1% duty).
1 Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, and Regeneration Overload Error (Error No. 18.0)
cause a trip when the operating rate of the Regeneration Resistor exceeds 10%.
2 Regeneration Resistor used: External Resistor
The regeneration processing circuit operates, but Regeneration Overload Error (Error No. 18.0) do
not occur.
3 Regeneration Resistor used: None
The regeneration processing circuit and Regeneration Overload Error (Error No. 18.0) do not
operate, and all regenerative energy is processed by the built-in capacitor.

Precautions for Correct Use

• Do not touch the External Regeneration Resistor. A burn injury may result.
• Always provide a temperature fuse or other protective measure when using an External
Regeneration Resistor. Regardless of whether the regeneration overload error is enabled or
disabled, the Regeneration Resistor can generate heat and may cause burning.
• To use the Built-in Regeneration Resistor, always set this object to 0.

3017 hex External Regeneration Resistor Setting All

Setting range 0 to 4 Unit − Default setting 0 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the method to calculate the regeneration resistance load ratio, when the External Resistor is
selected in the Regeneration Resistor Selection (3016 hex = 1 or 2).

Explanation of Set Values

Set value Description

0 Regeneration load ratio is 100% when operating rate of the External Regeneration Resistor is
10%.
1 Reserved
2 Reserved
3 Reserved
4 Reserved

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 9 Details on Servo Parameter Objects

9-2 Gain Settings

Refer to 11-2 Gain Adjustment on page 11-5 for the settings for gain adjustment.

3100 hex Position Loop Gain 1 csp pp hm

Setting range 0 to 30000 Unit 0.1/s Default setting 480*1 Data attribute B

Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 320 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the position loop response in accordance with the machine rigidity.
• The responsiveness of the servo system is determined by the position loop gain.
• Servo systems with a high position loop gain have a high responsiveness and fast positioning.
• To increase the position loop gain, you must improve machine rigidity and increase the specific
damping frequency. This should be 500 to 700 (0.1/s) for ordinary machine tools, 300 to 500 (0.1/s)
for general-use and assembly machines, and 100 to 300 (0.1/s) for industrial robots. The default
position loop gain is 480 (0.1/s), so be sure to lower the set value for machines with low machine
rigidity.
• Increasing the position loop gain in systems with low machine rigidity or systems with low specific
damping frequencies may cause machine resonance, resulting in an overload error.
• If the position loop gain is low, you can shorten the positioning time using feed-forward.
• This object is automatically changed by executing realtime autotuning. To set it manually, set the
Realtime Autotuning Mode Selection (3002 hex) to 0.
Position loop gain is generally expressed as follows:

Command pulse frequency (pulses/s)

Position loop gain (Kp) = (0.1/s)
Pulse position error (pulses)

9-2 Gain Settings

Response for Position Loop Gain Changes
Position loop gain is high.
Motor speed

Position loop gain is low. 9

Time

• If the speed loop gain and position loop gain are optimally set, the motor operation for the command
delays 2/Kp at acceleration and delays 3/Kp at deceleration.

2
Motor speed Position Kp
command

Motor operation

Time
3
Kp

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 9 Details on Servo Parameter Objects

3101 hex Speed Loop Gain 1 All

Setting range 1 to 32767 Unit 0.1 Hz Default setting 270*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• This object determines speed loop responsiveness.
• The setting for the speed loop gain must be increased to increase the position loop gain and improve
the responsiveness of the entire servo system. Setting too high, however, may result in vibration.
• The setting unit for 3101 hex is Hz if the Inertia Ratio (3004 hex) is set correctly.
When the speed loop gain is changed, the response is as shown in the following diagram.

Overshooting occurs if the speed loop gain is high.

(Vibration occurs if the gain is too high.)
Motor speed

Speed loop gain is low.

Time

3102 hex Speed Loop Integral Time Constant 1 All

Setting range 1 to 10000 Unit 0.1 ms Default setting 210*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 310 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the speed loop integral time constant.
• The smaller the set value, the faster the error approaches 0 when stopping.
When the speed loop integral time constant is changed, the response is as shown in the following
diagram.
Overshooting occurs if the speed loop integral
Motor speed time constant is small.

Speed loop integral

time constant is large.

Time

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3103 hex Speed Feedback Filter Time Constant 1 All

Setting range 0 to 5 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the time constant for the low pass filter (LPF) after speed detection to one of 6 levels (0 to 5).
• Increasing the set value increases the time constant and decreases the noise generated by the
motor. Responsiveness, however, also decreases.
• Normally, use the default set value.

3104 hex Torque Command Filter Time Constant 1 All

Setting range 0 to 2500 Unit 0.01 ms Default setting 84*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the time constant for the first-order lag filter inserted into the torque command.
• This object may be effective in suppressing vibration due to torsion resonance.

3105 hex Position Loop Gain 2 csp pp hm

Setting range 0 to 30000 Unit 0.1/s Default setting 570*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 380 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the responsiveness of the position control system for the second position loop.

3106 hex Speed Loop Gain 2 All

Setting range 1 to 32767 Unit 0.1 Hz Default setting 270*1 Data attribute B

9-2 Gain Settings

Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 180 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the responsiveness of the second speed loop.

3107 hex Speed Loop Integral Time Constant 2 All

Setting range 1 to 10000 Unit 0.1 ms Default setting 10000 Data attribute B 9
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the second speed loop integral time constant.

3108 hex Speed Feedback Filter Time Constant 2 All

Setting range 0 to 5 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the second speed feedback filter.

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3109 hex Torque Command Filter Time Constant 2 All

Setting range 0 to 2500 Unit 0.01 ms Default setting 84*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 The default setting is 126 for a Drive with 200 V and 1 kW or greater, or with 400 V.
• Set the second torque filter time constant.
• The objects from 3105 to 3109 hex are the gain and time constants to be selected when the Gain
Switching Input Operating Mode Selection (3114 hex) is enabled.
• The gain is switched according to the condition set in the Switching Mode (3115 hex, 3120 hex, and
3124 hex).
• If the mechanical system inertia changes greatly or if you want to change the responsiveness
depending on whether the motor is rotating or being stopped, you can achieve the appropriate control
by setting the gains and time constants beforehand for each of these conditions, and switching them
according to the condition.
• This object is automatically changed by executing realtime autotuning function. To set it manually,
set the Realtime Autotuning Mode Selection (3002 hex) to 0.

3110 hex Speed Feed-forward Gain csp pp hm

Setting range 0 to 1000 Unit 0.1% Default setting 300 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the feed-forward gain.

• Increasing the set value decreases the position error and increases the responsiveness.
Overshooting, however, will occur more easily.
• Refer to 11-11 Feed-forward Function on page 11-37.

3111 hex Speed Feed-forward Command Filter csp pp hm

Setting range 0 to 6400 Unit 0.01 ms Default setting 50 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the time constant for the first-order lag filter inserted into the feed-forward.
• Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
• Refer to 11-11 Feed-forward Function on page 11-37.

3112 hex Torque Feed-forward Gain csp csv pp hm

Setting range 0 to 1000 Unit 0.1% Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the feed-forward gain in torque control. Increasing the set value decreases the position error and
increases the responsiveness. Overshooting, however, will occur more easily.
• Refer to 11-11 Feed-forward Function on page 11-37.

3113 hex Torque Feed-forward Command Filter csp csv pp hm

Setting range 0 to 6400 Unit 0.01 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the time constant for the first-order lag filter inserted into the feed-forward.
• Setting the filter may improve operation if speed overshooting occurs or the noise during operation is
large when the feed-forward is set high.
• Refer to 11-11 Feed-forward Function on page 11-37.

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 9 Details on Servo Parameter Objects

3114 hex Gain Switching Input Operating Mode Selection All

Setting range 0 to 1 Unit − Default setting 1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select either PI/P operation switching or gain 1/gain 2 switching.

• The PI/P operation switching is performed with the Speed Loop PI/P Control command in EtherCAT
communications.
• Refer to 7-10 Gain Switching 3 Function on page 7-38 for the Gain 1/Gain 2 switching.

Explanation of Set Values

Set value Description

0 Gain 1 (PI/P switching enabled)
1 Gain 1/gain 2 switching available

3115 hex Switching Mode in Position Control csp pp

Setting range 0 to 10 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.

Explanation of Settings

Description
3115
Gain Switching Gain Switching Gain Switching
hex
Delay Time in Level in Position Hysteresis in
set Gain switching conditions Position Control Control Position Control
value

9-2 Gain Settings

(3116 hex) *1 (3117 hex) (3118 hex) *2
0 Always Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
1 Always Gain 2 (3105 to 3109 hex). Disabled Disabled Disabled
2 Gain switching command input via Disabled Disabled Disabled
EtherCAT communications *3
3 Command torque value (Refer to Enabled Enabled *4 Enabled *4
Figure A.) (%) (%)
9
4 Always Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
5 Command speed (Refer to Figure B.) Enabled Enabled (r/min) Enabled (r/min)
6 Pulse position error (Refer to Figure C.) Enabled Enabled *5 Enabled *5
(pulse) (pulse)
7 Whether there is a position command Enabled Disabled Disabled
(Refer to Figure D.)
9 Actual motor speed (Refer to Figure B.) Enabled Enabled (r/min) Enabled (r/min)
10 Combination of whether there is a position Enabled Enabled *6
Enabled *6
command and actual motor speed (Refer (r/min) (r/min)
to Figure E.)

*1 The Gain Switching Delay Time in Position Control (3116 hex) becomes effective when the gain is switched
from 2 to 1.

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9 Details on Servo Parameter Objects

*2 The Gain Switching Hysteresis in Position Control (3118 hex) is defined in the drawing below.

3117 hex
3118 hex
0
Gain 1 Gain 2 Gain 1

3116 hex

If object 3117 hex is less than object 3118 hex, object 3117 hex will automatically be set to the same value as
object 3118 hex.
*3 When the Gain Switching command of EtherCAT communications is 0, the gain switches to gain 1. When the
command is 1, the gain switches to gain 2.
*4 Set the percentage of the rated torque.
Example: To set 10% of the rated torque, set the set value would be 10.
*5 The position error is set according to the encoder resolution (i.e., pulses) for position control and according to
the external encoder resolution (i.e., pulses) for fully-closed control.
*6 When the set value is 10, meanings of the Gain Switching Delay Time in Position Control, the Gain Switching
Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from the normal case.
(Refer to Figure E.)

Speed V Figure A Figure C

Speed V

Command torque
H Pulse position error
Level L H
Level L
L
H
Time Time
Time
Gain 1 Gain 2 1
1 2 Gain 1 2 1

Speed V Figure B Position Figure D

H command
Level L values

Time Time
Gain 1 Gain 2 Gain 1 Gain 1 Gain 2 1

Figure E
Position command values

Motor speed
H Level
L

Time

Gain 1 Gain 2 Gain 1

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3116 hex Gain Switching Delay Time in Position Control csp pp hm

Setting range 0 to 10000 Unit 0.1 ms Default setting 50 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Position Control
(3115 hex) is set to 3 or 5 to 10.

3117 hex Gain Switching Level in Position Control csp pp hm

Setting range 0 to 20000 Unit − Default setting 50 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• This object is enabled when the Switching Mode in Position Control (3115 hex) is 3, 5, 6, 9 or 10. It
sets the judgment level for switching between gain 1 and gain 2.
• The unit depends on the Switching Mode in Position Control (3115 hex).

3118 hex Gain Switching Hysteresis in Position Control csp pp hm

Setting range 0 to 20000 Unit − Default setting 33 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Position Control (3117 hex).
• The unit depends on the setting of the Switching Mode in Position Control (3115 hex).
• The following shows the definitions for the Gain Switching Delay Time in Position Control (3116 hex),
Gain Switching Level in Position Control (3117 hex), and Gain Switching Hysteresis in Position
Control (3118 hex).

3117h

9-2 Gain Settings

3118h
0
Gain 1 Gain 2 Gain 1

3116h

• The settings for the Gain Switching Level in Position Control (3117 hex) and the Gain Switching
Hysteresis in Position Control (3118 hex) are enabled as absolute values (positive/negative). 9

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9 Details on Servo Parameter Objects

3119 hex Position Gain Switching Time csp pp hm

Setting range 0 to 10000 Unit 0.1 ms Default setting 33 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Torque fluctuations or vibration will occur if the position loop gain is changed too quickly during
position control or fully-closed control. To suppress these, set a Position Gain Switching Time
(3119 hex).
• By setting the Position Gain Switching Time (3119 hex), the gain will be switched gradually when
there is a large change in the position loop gain.
• If there is a large difference between Position Loop Gain 1 (3100 hex) and Position Loop Gain 2
(3105 hex), set the Position Gain Switching Time (3119 hex).
• When the position loop gain 1 increases, the gain changes in the set time.
Position Loop Gain 1 < Position Loop Gain 2
Position
Loop Gain 2

Position
Loop Gain 1
Position Gain
Switching Time (3119 hex)

Position Position Position

Loop Gain 1 Loop Gain 2 Loop Gain 1

Precautions for Correct Use

When the position loop gain is switched to a smaller value (e.g., when switching from gain 2 to
gain 1 in the above figure), Position Gain Switching Time (3119 hex) is ignored and the gain is
switched immediately.

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3120 hex Switching Mode in Speed Control csv

Setting range 0 to 5 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the conditions for switching between gain 1 and gain 2 when the Gain Switching Input
Operating Mode Selection (3114 hex) is set to 1.
• The gain is always gain 1 regardless of the gain input if the Switching Mode in Speed Control
(3120 hex) is 2 and the Torque Limit Selection (3521 hex) is 3 or 6.

Explanation of Settings

Description
3120
Gain Switching Gain Switching Gain Switching
hex
Delay Time in Level in Speed Hysteresis in
set Gain switching conditions Speed Control Control Speed Control
value
(3121 hex) *1 (3122 hex) (3123 hex) *2
0 Always the Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
1 Always the Gain 2 (3105 to 3109 hex). Disabled Disabled Disabled
2 Gain switching command input via Disabled Disabled Disabled
EtherCAT communications *3
3 Torque command variation Enabled Enabled *3 Enabled *3
(Refer to Figure A.) (0.05%) (0.05%)
4 Speed command variation Enabled Enabled *4 Enabled *4
(Refer to Figure B.) (10 r/min/s) (10 r/min/s)
5 Speed command (Refer to Figure C.) Enabled Enabled (r/min) Enabled (r/min)

*1 The Gain Switching Delay Time in Speed Control (3121 hex) becomes effective when the gain is switched
from 2 to 1.
*2 The Gain Switching Hysteresis in Speed Control (3123 hex) is defined in the drawing below.

9-2 Gain Settings

3122 hex
3123 hex
0
Gain 1 Gain 2 Gain 1
9
3121 hex

*3 When the Gain switching command of EtherCAT communications (G-SEL) is 0, the gain switches to Gain 1.
When the command is 1, the gain switches to Gain 2.
*4 The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
*5 When the set value is 10, meanings of the Gain Switching Delay Time in Speed Control (3121 hex), the Gain
Switching Level in Speed Control (3122 hex), and the Gain Switching Hysteresis in Speed Control (3123 hex)
differ from the normal case. (Refer to Figure D.)

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9 Details on Servo Parameter Objects

Figure A Speed V Figure B

H
Level
Speed V L

Time
Gain 1 Gain 2 Gain 1
Torque T

Figure C
Speed V

H
Level L
Accumulated pulse
L H
H Level L
Time
1 2 2 Gain 1 2 2 1 Time
1 1 Gain 1 Gain 2 1

Figure D
Command speed S

Actual speed N
H Level
L
Time

Gain 1 Gain 2 Gain 1

Gain 2 only for the speed loop integral time constant

Gain 1 for all others

3121 hex Gain Switching Delay Time in Speed Control csv

Setting range 0 to 10000 Unit 0.1 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Speed Control
(3120 hex) is set to 3 to 5.

3122 hex Gain Switching Level in Speed Control csv

Setting range 0 to 20000 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• In Speed Control Mode, this is enabled when the Switching Mode in Speed Control (3120 hex) is set
to 3 to 5. Set the judgment level for switching between gain 1 and gain 2.
• The unit depends on the Switching Mode in Speed Control (3120 hex).

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 9 Details on Servo Parameter Objects

3123 hex Gain Switching Hysteresis in Speed Control csv

Setting range 0 to 20000 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in Speed
Control (3122 hex).
• The unit depends on the setting of the Switching Mode in Speed Control (3120 hex).
• The following shows the definitions for the Gain Switching Delay Time in Speed Control (3121 hex),
Gain Switching Level in Speed Control (3122 hex), and Gain Switching Hysteresis in Speed Control
(3123 hex).

3122 hex
3123 hex

0
Gain 1 Gain 2 Gain 1

3121 hex

• The settings for the Gain Switching Level in Speed Control (3122 hex) and the Gain Switching
Hysteresis in Speed Control (3123 hex) are enabled absolute values (positive/negative).

3124 hex Switching Mode in Torque Control cst

Setting range 0 to 3 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the switching condition between gain 1 and gain 2 when the Gain Switching Input Operating
Mode Selection (3114 hex) is set to 1.
• The gain is always gain 1 regardless of the gain input if the Switching Mode in Torque Control
(3124 hex) is 2 and the Torque Limit Selection (3521 hex) is 3 or 6.

9-2 Gain Settings

Explanation of Settings

Description
3124
Gain Switching Gain Switching Gain Switching
hex
Delay Time in Level in Torque Hysteresis in
set Gain switching conditions Torque Control Control Torque Control
value
(3125 hex) *1 (3126 hex) (3127 hex) *2
9
0 Always Gain 1 (3100 to 3104 hex). Disabled Disabled Disabled
1 Always Gain 2 (3105 to 3109 hex). Disabled Disabled Disabled
2 Gain switching command input via Disabled Disabled Disabled
EtherCAT communications *3
3 Torque command variation Enabled Enabled *4 Enabled *4
(Refer to Figure A.) (0.05%) (0.05%)

*1 The Gain Switching Delay Time in Toque Control (3125 hex) becomes effective when the gain is switched from
2 to 1.
*2 The Gain Switching Hysteresis in Torque Control (3127 hex) is defined in the drawing below.

3126 hex
3127 hex
0
Gain 1 Gain 2 Gain 1

3125 hex

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9 Details on Servo Parameter Objects

*3 When the Gain switching command of EtherCAT communications is 0, the gain switches to Gain 1. When the
command is 1, the gain switches to Gain 2.
*4 The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.

Figure A

Speed V

Torque T

H
Level L

L
H
Time
1 2 2 Gain 1 2 2 1
1 1

3125 hex Gain Switching Delay Time in Torque Control cst

Setting range 0 to 10000 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the delay time when returning from gain 2 to gain 1 if the Switching Mode in Torque Control
(3124 hex) is set to 3.

3126 hex Gain Switching Level in Torque Control cst

Setting range 0 to 20000 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• This is enabled when the Switching Mode in Torque Control (3124 hex) is set to 3. It sets the
judgment level for switching between gain 1 and gain 2.
• The unit depends on the setting of Switching Mode in Torque Control (3124 hex).

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 9 Details on Servo Parameter Objects

3127 hex Gain Switching Hysteresis in Torque Control cst

Setting range 0 to 20000 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the hysteresis width above and below the judgment level set in the Gain Switching Level in
Torque Control (3126 hex).
• The unit depends on the setting of Switching Mode in Torque Control (3124 hex).
• The following shows the definitions for the Gain Switching Delay Time in Torque Control (3125 hex),
Gain Switching Level in Torque Control (3126 hex), and Gain Switching Hysteresis in Torque Control
(3127 hex).

3126 hex
3127 hex
0
Gain 1 Gain 2 Gain 1

3125 hex

• The settings for the Gain Switching Level in Torque Control (3126 hex) and the Gain Switching
Hysteresis in Torque Control (3127 hex) are enabled as absolute values (positive/negative).

9-2 Gain Settings

9

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9 Details on Servo Parameter Objects

9-3 Vibration Suppression Settings

3200 hex Adaptive Filter Selection csp csv pp hm

Setting range 0 to 4 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the operation of the adaptive filter.

• Refer to 11-6 Adaptive Filter on page 11-26.

Explanation of Set Values

Set value Description

0 Adaptive filter disabled
1 One adaptive filter is enabled. The objects related to notch filter 3 are automatically updated.
2 Two adaptive filters are enabled. The objects related to notch filters 3 and 4 are updated.
3 For use by manufacturer. Do not use this setting.
4 Adaptive result is cleared. Objects related to notch filters 3 and 4 are disabled and the adaptive
result is cleared.

3201 hex Notch 1 Frequency Setting All

Setting range 50 to 5000 Unit Hz Default setting 5000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the frequency of resonance suppression notch filter 1.

• The notch filter function is disabled if this object is set to 5000.
• Refer to 11-7 Notch Filters on page 11-29.

3202 hex Notch 1 Width Setting All

Setting range 0 to 20 Unit − Default setting 2 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the width of resonance suppression notch filter 1 to one of 20 levels.

• Increasing the setting value widens the notch width. Normally, use the default set value.
• Refer to 11-7 Notch Filters on page 11-29.

3203 hex Notch 1 Depth Setting All

Setting range 0 to 99 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the notch depth of resonance suppression notch filter 1.

• Increasing the setting value shortens the notch depth and the phase lag.
• Refer to 11-7 Notch Filters on page 11-29.

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 9 Details on Servo Parameter Objects

3204 hex Notch 2 Frequency Setting All

Setting range 50 to 5000 Unit Hz Default setting 5000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the notch frequency of resonance suppression notch filter 2.

• The notch filter function is disabled if this object is set to 5000.
• Refer to 11-7 Notch Filters on page 11-29.

3205 hex Notch 2 Width Setting All

Setting range 0 to 20 Unit − Default setting 2 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the notch width of resonance suppression notch filter 2.

• Increasing the setting value widens the notch width. Normally, use the default set value.
• Refer to 11-7 Notch Filters on page 11-29.

3206 hex Notch 2 Depth Setting All

Setting range 0 to 99 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the notch depth of resonance suppression notch filter 2.

• Increasing the setting value shortens the notch depth and the phase lag.

9-3 Vibration Suppression Settings

• Refer to 11-7 Notch Filters on page 11-29.

3207 hex Notch 3 Frequency Setting All

Setting range 50 to 5000 Unit Hz Default setting 5000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the notch frequency of resonance suppression notch filter 3.

• The notch filter function is disabled if this object is set to 5000.
• While the adaptive filter is enabled, the resonance frequency 1 that is assumed by the adaptive filter
is automatically set. If no resonance point is found, the value 5000 is set.
• Refer to 11-6 Adaptive Filter on page 11-26 and 11-7 Notch Filters on page 11-29.
9
3208 hex Notch 3 Width Setting All
Setting range 0 to 20 Unit − Default setting 2 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the notch width of resonance suppression notch filter 3.

• Increasing the setting value widens the notch width. Normally, use the default set value.
• While the adaptive filter is enabled, this object is set automatically.
• Refer to 11-6 Adaptive Filter on page 11-26 and 11-7 Notch Filters on page 11-29.

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9 Details on Servo Parameter Objects

3209 hex Notch 3 Depth Setting All

Setting range 0 to 99 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the notch depth of resonance suppression notch filter 3.

• Increasing the setting value shortens the notch depth and the phase lag.
• While the adaptive filter is enabled, this object is set automatically.
• Refer to 11-6 Adaptive Filter on page 11-26 and 11-7 Notch Filters on page 11-29.

3210 hex Notch 4 Frequency Setting All

Setting range 50 to 5000 Unit Hz Default setting 5000 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the notch frequency of resonance suppression notch filter 4.

• The notch filter function is disabled if this object is set to 5000.
• While two adaptive filters are enabled, the resonance frequency 2 that is assumed by the adaptive
filter is automatically set. If no resonance point is found, the value 5000 is set.
• Refer to 11-6 Adaptive Filter on page 11-26 and 11-7 Notch Filters on page 11-29.

3211 hex Notch 4 Width Setting All

Setting range 0 to 20 Unit − Default setting 2 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the notch width of resonance suppression notch filter 4.

• Increasing the setting value widens the notch width. Normally, use the default set value.
• This object is automatically set when two adaptive filters are enabled.
• Refer to 11-6 Adaptive Filter on page 11-26 and 11-7 Notch Filters on page 11-29.

3212 hex Notch 4 Depth Setting All

Setting range 0 to 99 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the notch depth of resonance suppression notch filter 4.

• Increasing the setting value shortens the notch depth and the phase lag.
• When two adaptive filters are enabled, this object is set automatically.
• Refer to 11-6 Adaptive Filter on page 11-26 and 11-7 Notch Filters on page 11-29.

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 9 Details on Servo Parameter Objects

3213 hex Damping Filter Selection csp csv pp hm

Setting range 0 to 3 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the method to switch among four damping control filters.

Explanation of Set Values

Set value Explanation

0 Up two damping filters, damping filters 1 and 2, can be used at the same time.
1 Reserved for manufacturer use *1
2 Reserved for manufacturer use *1
3 The damping filters are switched with position command direction.
• Forward direction: Damping filters 1 / 3 enabled
• Reverse direction: Damping filters 2 / 4 enabled

*1 The set value 1 and 2 are for manufacturer's use only. Users are not allowed to set 1 and 2 for this object.

3214 hex Damping Frequency 1 csp pp hm

Setting range 0 to 2000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set damping frequency 1 to suppress vibration at the end of the load in damping control.

9-3 Vibration Suppression Settings

• Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
• The range of setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
• Refer to 11-5 Damping Control on page 11-23.

3215 hex Damping Filter 1 Setting csp pp hm

Setting range 0 to 1000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• First set Damping Frequency 1 (3214 hex). Then reduce the setting if torque saturation occurs or
increase the setting to increase operation speed. Normally, use a setting of 0.
• The upper limit of the set value is restricted to the smaller value of the corresponding damping 9
frequency or (2000 − damping frequency).
• Refer to 11-5 Damping Control on page 11-23 for more information on settings.

3216 hex Damping Frequency 2 csp pp hm

Setting range 0 to 2000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set damping frequency 2 to suppress vibration at the end of the load in damping control.
• Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
• Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
• Refer to 11-5 Damping Control on page 11-23 for more information on settings.

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9 Details on Servo Parameter Objects

3217 hex Damping Filter 2 Setting csp pp hm

Setting range 0 to 1000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• First set Damping Frequency 2 (3216 hex). Then reduce the setting if torque saturation occurs or
increase the setting to increase operation speed. Normally, use a setting of 0.
• The upper limit of the set value is restricted to the smaller value of the corresponding damping
frequency or (2000 − damping frequency).
• Refer to 11-5 Damping Control on page 11-23 for more information on settings.

3218 hex Damping Frequency 3 csp pp hm

Setting range 0 to 2000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set damping frequency 3 to suppress vibration at the end of the load in damping control.
• Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
• Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
• Refer to 11-5 Damping Control on page 11-23 for more information on settings.

3219 hex Damping Filter 3 Setting csp pp hm

Setting range 0 to 1000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• First set Damping Frequency 3 (3218 hex). Then reduce the setting if torque saturation occurs or
increase the setting to increase operation speed. Normally, use a setting of 0.
• The upper limit of the set value is restricted to the smaller value of the corresponding damping
frequency or (2000 − damping frequency).
• Refer to 11-5 Damping Control on page 11-23 for more information on settings.

3220 hex Damping Frequency 4 csp pp hm

Setting range 0 to 2000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set damping frequency 4 to suppress vibration at the end of the load in damping control.
• Measure the frequency of vibration at the end of the load and make the setting in units of 0.1 Hz.
• Setting frequency is 1.0 to 200.0 Hz. The function is disabled if the setting is 0 to 0.9 Hz.
• Refer to 11-5 Damping Control on page 11-23 for more information on settings.

3221 hex Damping Filter 4 Setting csp pp hm

Setting range 0 to 1000 Unit 0.1 Hz Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• First set Damping Frequency 4 (3220 hex). Then reduce the setting if torque saturation occurs or
increase the setting to increase operation speed. Normally, use a setting of 0.
• The upper limit of the set value is restricted to the smaller value of the corresponding damping
frequency or (2000 − damping frequency).
• Refer to 11-5 Damping Control on page 11-23 for more information on settings.

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 9 Details on Servo Parameter Objects

3222 hex Position Command Filter Time Constant csp pp hm

Setting range 0 to 10000 Unit 0.1 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• The Position Command Filter Time Constant is the first-order lag filter that is inserted after the
electronic gear ratio for the command input.
• This constant is used to reduce the stepping movement of the motor and achieve a smooth operation
when the electronic gear ratio is set in 10 times or greater.
• It sets the first-order lag filter time constant, as shown below, for the square-wave command of target
speed Vc.

Position command after

Input position command the smoothing filter process
Speed
Target speed Vc

Vc × 0.632*1

Vc × 0.368*1

tf tf Time

9-3 Vibration Suppression Settings

tf = (3222 hex*3 × 0.1 ms) Filter switching
dwell time *2
*1 The error in the position command filter time constant is 0.4 max. (absolute error) for less than 100 ms and 0.2% max.
(relative error) for 20 ms or greater for the set value times 0.1 ms.
*2 The Position Command Filter Time Constant (3222 hex) is switched when the position command value per 0.250 ms
changes from 0 to a value other than 0 while the positioning completed output is ON.
*3 There is a delay from when the Position Command Filter Time Constant (3222 hex) is changed until the new value is
applied in internal calculations. If the filter switch wait time expires during this delay, the change may be placed on hold.

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9 Details on Servo Parameter Objects

9-4 Analog Control Objects

3312 hex Soft Start Acceleration Time csv

Setting range 0 to 10000 Unit ms/maximum Default setting 0 Data attribute B
motor speed
Size 2 bytes (INT16) Access RW PDO map Not possible.

3313 hex Soft Start Deceleration Time

csv
Setting range 0 to 10000 Unit ms/maximum Default setting 0 Data attribute B
motor speed
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Control the speed by setting acceleration/deceleration to the speed command inside the Servo Drive.
• A soft start can be set when inputting speed commands of stepping movement or when using internal
speed setting.
• Do not set acceleration/deceleration time settings when using the Servo Drive in combination with an
external position loop. (Set both 3312 and 3313 hex to 0.)
• Refer to 7-8 Soft Start on page 7-26.

Rotation
speed [r/min]
Maximum motor
rotation speed Step input of a rotation
speed command Rotation speed command
after acceleration or
deceleration processing

3312 hex × 1 ms 3313 hex × 1 ms

Precautions for Correct Use

• Do not set the Soft Start Acceleration Time and the Soft Start Deceleration Time when the
position loop structure with a Host Controller is used.

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 9 Details on Servo Parameter Objects

3314 hex S-curve Acceleration/Deceleration Time Setting

csv
Setting range 0 to 1000 Unit ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the pseudo-S-curve acceleration/deceleration value to add to the speed command to enable
smooth operation. This is useful for applications where impact may occur due to a large change in
acceleration or deceleration when starting or stopping with linear acceleration or deceleration.
• Refer to 7-8 Soft Start on page 7-26.

Rotation
speed [r/min]
ts ts
Target speed
(Vc) ta = Vc / Maximum motor rotation speed × 3312 hex × 1 ms
td = Vc / Maximum motor rotation speed × 3313 hex × 1 ms
ts = 3314 hex × 1 ms
ts ts

Be sure that ts is smaller than the values

obtained by the divisions of
ta td ta td
and .
2 2

3317 hex Speed Limit Selection

cst
Setting range 0 to 1 Unit − Default setting 1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the speed limit.

9-4 Analog Control Objects

• The speed limit is used as a protection during torque control.
• Refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.

Explanation of Set Values

Set value Description

0 Select the value set on the Speed Limit Value Setting (3321 hex).
1 Select either the speed limit value (VLIM) via EtherCAT communications or the value set by the
Speed Limit Value Setting (3321 hex), whichever is smaller.

9
3321 hex Speed Limit Value Setting
cst
Setting range 0 to 20000 Unit r/min Default setting 20000 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the speed limit value for torque control.

• It controls that the speed during torque control does not exceed the set value.
• Refer to 6-3 Cyclic Synchronous Torque Mode on page 6-8.

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9 Details on Servo Parameter Objects

3323 hex External Feedback Pulse Type Selection csp (full) pp (full) hm (full)
Setting range 0 to 2 Unit − Default setting 0 Data attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the external encoder type. Be sure that the setting conforms to the external encoder which is
actually used.
• Refer to 6-6 Fully-closed Control on page 6-16.

Explanation of Set Values

Set value Description Maximum input frequency*1

0 90° phase difference output type*2*3 0 to 4 Mpps (Multiplication × 4)
1 Serial communications type 0 to 400 Mpps
(Incremental encoder specifications)*3
2 Serial communications type 0 to 400 Mpps
(Absolute encoder specifications)*3

*1 The maximum input frequency is the feedback speed [pps] of the external encoder that can be processed by
the Drive. Check the instruction manual of the external encoder for the maximum output frequency of the
external encoder.
*2 These are the directions that the Drive counts a 90° phase difference output.

Count-down direction Count-up direction

t1 t1

EXA EXA

EXB EXB
t2 t2
EXB is 90° ahead of EXA. EXB is 90° behind EXA.
t1 > 0.25 μs t1 > 0.25 μs
t2 > 1.0 μs t2 > 1.0 μs

*3 For the external encoder connection direction, set the direction so that count-up occurs when the motor shaft is
rotating in the CCW direction, and count-down occurs when the motor shaft is rotating in the CW direction. If
the connection direction cannot be selected due to installation conditions, the count direction can be reversed
using External Feedback Pulse Direction Switching (3326 hex).

Precautions for Correct Use

• If 3000 hex = 1, the encoder count direction will be opposite to the count direction used for
monitoring the total external encoder feedback pulses.
If 3000 hex = 0, the count direction matches the count direction for monitoring.
• Even when the speed command is within the Drive’s speed command range, an acceleration
error will occur if the speed command exceeds the maximum speed of motor shaft rotation.

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 9 Details on Servo Parameter Objects

3324 hex External Feedback Pulse Dividing Numerator csp (full) pp (full) hm (full)
Setting range 0 to 1048576 Unit − Default setting 0 Data attribute R
Size 4 bytes (INT32) Access RW PDO map Not possible.

3325 hex External Feedback Pulse Dividing Denominator csp (full) pp (full) hm (full)
Setting range 1 to 1048576 Unit − Default setting 10000 Data attribute R
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Check the number of encoder pulses per motor rotation and number of external encoder pulses per
motor rotation, and set External Feedback Pulse Dividing Numerator (3324 hex) and External
Feedback Pulse Dividing Denominator (3325 hex).

3324 hex Encoder resolution per motor rotation [pulses]

=
3325 hex External encoder resolution per motor rotation [pulses]
• Set object 3324 hex to 0 to have the encoder resolution automatically set as the numerator.
• Refer to 6-6 Fully-closed Control on page 6-16.

Precautions for Correct Use

• If this divider setting is wrong, there will be error between the position calculated from encoder
pulses and the position calculated from external encoder pulses. If the movement distance is
long, this error accumulates and causes a Excessive Hybrid Deviation Error (Error No. 25.0).
• The recommended divider setting is 1/40 ≤ External Feedback Pulse Ratio ≤ 160. If the ratio is
set too small, control to the unit of 1 external feedback pulse may be disabled. On the other

9-4 Analog Control Objects

hand, if the external feedback pulse ratio is increased, operating noise may increase.

Additional Information

In the example below, ball screw pitch is 10 mm, encoder is 0.1 μm/pulse, and encoder
resolution is 20 bits (or 1,048,576 pulses)

3324 hex Encoder resolution per motor rotation [pulses] 1,048,576

= =
3325 hex External encoder resolution per motor rotation [pulses] 100,000
9

3326 hex External Feedback Pulse Direction Switching csp (full) pp (full) hm (full)
Setting range 0 to 1 Unit − Default setting 0 Data attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.

• The direction of external encoder feedback count can be reversed.

• Refer to 6-6 Fully-closed Control on page 6-16.

Explanation of Set Values

Set value Description

0 External encoder feedback pulse count direction not reversed
1 External encoder feedback pulse count direction reversed

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9 Details on Servo Parameter Objects

3327 hex External Feedback Pulse Phase-Z Setting csp (full) pp (full) hm (full)
Setting range 0 to 1 Unit − Default setting 0 Data attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set to enable or disable phase-Z disconnection detection when an external encoder with a 90° phase
difference output is used.

Explanation of Set Values

Set value Explanation

0 Phase-Z disconnection detection enabled
1 Phase-Z disconnection detection disabled

3328 hex Hybrid Following Error Counter Overflow Level csp (full) pp (full) hm (full)
Setting range 1 to Unit Command unit Default setting 16000 Data attribute C
134217728
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the allowable difference (feedback pulse error) between the motor (encoder) position and load
(external encoder) position in command units.
• Refer to 6-6 Fully-closed Control on page 6-16.

3329 hex Hybrid Following Error Counter Reset csp (full) pp (full) hm (full)
Setting range 0 to 100 Unit Rotation Default setting 0 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• The feedback pulse error is reset every time the motor rotates for the amount set by the Hybrid
Following Error Counter Reset (3329 hex). This can be used for applications where feedback pulse
error accumulates due to slippage.
• Refer to 6-6 Fully-closed Control on page 6-16.

Feedback pulse error value

[command units] (absolute value) Occurrence of excessive
feedback pulse deviation error
Excessive
feedback pulse
error setting

Feedback pulse error reset setting Motor rotation

speed [rotations]

• Ensure that an appropriate value is set to the Hybrid Following Error Counter Reset (3329 hex),
before you use the feedback pulse error counter reset. When the set value is extremely small, the
protective function may not work to prevent any erroneous operation due to improper connection of
the external encoder.

Precautions for Correct Use

• Provide sufficient safety measures. This includes mounting limit sensors.

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9-5 Interface Monitor Settings

3400 hex Input Signal Selection 1 All

Setting range 0 to 00FF Unit − Default setting 0094 9494 hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function and logic for general-purpose input 1 (IN1).

• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

3401 hex Input Signal Selection 2 All

Setting range 0 to 00FF Unit − Default setting 0081 8181 hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function and logic for general-purpose input 2 (IN2).

• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

3402 hex Input Signal Selection 3 All

Setting range 0 to 00FF Unit − Default setting 0082 8282 hex Data attribute C

9-5 Interface Monitor Settings

FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function and logic for general-purpose input 3 (IN3).

• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

3403 hex Input Signal Selection 4 All

Setting range 0 to 00FF Unit − Default setting 0022 2222 hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible. 9
• Set the function and logic for general-purpose input 4 (IN4).
• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

3404 hex Input Signal Selection 5 All

Setting range 0 to 00FF Unit − Default setting 002B 2B2B hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function and logic for general-purpose input 5 (IN5).

• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

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9 Details on Servo Parameter Objects

3405 hex Input Signal Selection 6 All

Setting range 0 to 00FF Unit − Default setting 0021 2121 hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function and logic for general-purpose input 6 (IN6).

• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

3406 hex Input Signal Selection 7 All

Setting range 0 to 00FF Unit − Default setting 0020 2020 hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function and logic for general-purpose input 7 (IN7).

• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

3407 hex Input Signal Selection 8 All

Setting range 0 to 00FF Unit − Default setting 002E 2E2E hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function and logic for general-purpose input 8 (IN8).

• Refer to the Details of Control Inputs in Control Input Details on page 3-21, as well as 7-1 Sequence
I/O Signals on page 7-2.

3410 hex Output Signal Selection 1 All

Setting range 0 to 00FF Unit − Default setting 0003 0303 hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function assignment for general-purpose output 1 (OUTM1).

• Refer to the Details of Control Inputs in Control Output Details on page 3-24, as well as 7-1
Sequence I/O Signals on page 7-2.

3411 hex Output Signal Selection 2 All

Setting range 0 to 00FF Unit − Default setting 0002 0202 hex Data attribute C
FFFF hex
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the function assignment for general-purpose output 2 (OUTM2).

• Refer to the Details of Control Inputs in Control Output Details on page 3-24, as well as 7-1
Sequence I/O Signals on page 7-2.

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 9 Details on Servo Parameter Objects

3416 hex Analog Monitor 1 Selection All

Setting range 0 to 21 Unit − Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Analog signals of various monitor values can be output from the analog monitor connector on the front
panel.
• The monitor type to output and the scaling (or output gain) can be selected. These can be set for
each object.
• Refer to 11-1 Analog Monitor on page 11-2.

Explanation of Set Values

Explanation
Set
value Output gain when
Monitor type Unit
object 3417 hex = 0
0 Feedback Motor Speed r/min 500
1 Internal Command Motor Speed r/min 500
2 Filtered Internal Command Motor r/min 500
Speed
3 Motor Control Effort r/min 500
4 Torque demand % (rated torque ratio) 33
5 Position Error pulses (command units) 3000
6 Pulse Position Error pulses (encoder units) 3000
7 Fully-closed error pulses (external encoder units) 3000

9-5 Interface Monitor Settings

8 Hybrid error pulses (command units) 3000
9 P-N voltage V 80
10 Regeneration load ratio % 33
11 Motor load ratio % 33
12 Forward External Torque Limit % (rated torque ratio) 33
13 Reverse External Torque Limit % (rated torque ratio) 33
14 Speed limit value r/min 500
15 Inertia ratio % 500
16 to 18 Reserved − −
19 Encoder temperature °C 10
9
20 Servo Drive temperature °C 10
21 Encoder 1-rotation data pulses (encoder units) 110000

3417 hex Analog Monitor 1 Scale Setting All

Setting range 0 to Unit − Default setting 0 Data attribute A
214748364
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the output gain for analog monitor 1.

• Refer to 11-1 Analog Monitor on page 11-2.

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9 Details on Servo Parameter Objects

3418 hex Analog Monitor 2 Selection All

Setting range 0 to 21 Unit − Default setting 4 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• In the same way as for Analog Monitor 1, analog signals of various monitors can be output from the
analog monitor connector on the front panel.
• Refer to the Analog Monitor 1 Selection (3416 hex) for the method to set this object.

3419 hex Analog Monitor 2 Scale Setting All

Setting range 0 to Unit − Default setting 0 Data attribute A
214748364
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the output gain for analog monitor 2.

• Refer to the Analog Monitor 1 Scale Setting (3417 hex) for the method to set this object.
\

3421 hex Analog Monitor Output Selection All

Setting range 0 to 2 Unit − Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the analog monitor output voltage direction.

• These are the output voltage range and the output direction when the Analog Monitor 1 Selection or
Analog Monitor 2 Selection is set to the Feedback Motor Speed, and the Analog Monitor 1 Scale
Setting or the Analog Monitor 2 Scale Setting is set to 0 (i.e., 1V = 500 r/min).

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 9 Details on Servo Parameter Objects

Set value Output range Data output

0 −10 to 10 V
Output voltage [V]
10 V
Feedback
Motor
0V Speed
-5,000 5,000 [r/min]

-10 V
1 0 to 10 V
Output voltage [V]
10 V

Feedback
Motor
Speed
-5,000 0V 5,000 [r/min]

-10 V
2 0 to 10 V
(5 V as a center) Output voltage [V]
10 V

Feedback
5V Motor
Speed
0V 0 2,500 [r/min]

9-5 Interface Monitor Settings

-2,500

-10 V

3432 hex Positioning Completion Condition Selection csp pp hm

Setting range 0 to 3 Unit − Default setting 0 Data attribute A
Size 2 bytes (U16) Access RW PDO map Not possible.

• Select the condition under which the positioning completion signal (INP1) is output.
9
Explanation of Set Value

Set value Description

0 Turn ON when the position error is equal to or lower than 6067 hex (Position window).
1 to 3 Turn ON when there is no position command and the position error is equal to or lower than 6067
hex (Position window).

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9 Details on Servo Parameter Objects

3433 hex Positioning Completion Hold Time csp pp hm

Setting range 0 to 30000 Unit ms Default setting 0 Data attribute A
Size 2 bytes (U16) Access RW PDO map Not possible.

• Set the hold time for when 3432 hex (Positioning Completion Condition Selection) is set to 3.

Explanation of Set Value

Set value Description

0 The hold time will be an infinite time and the ON status will be held until the next position command
is received.
1 to 30000 The ON status is held for the set time (ms). The output is turned OFF if a position command is
received while the ON status is being held.
• The setting of this parameter does not affect the detection condition for the Target reached flag in
6041 hex (Statusword).

3434 hex Zero Speed Detection All

Setting range 10 to 20000 Unit r/min Default setting 50 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the output timing of the Zero Speed Detection Output (ZSP) as rotation speed [r/min].
• The Zero Speed Detection Output (ZSP) turns ON when the motor speed is lower than the set value
of this object.
• The set value of this object is valid in both forward and reverse directions, regardless of the actual
motor rotation direction. The setting has a hysteresis of 10 r/min.
• Refer to Control Output Details on page 3-24 for the Zero speed detection output (ZSP).

Forward operation
Speed

(3434 hex + 10) r/min

(3434 hex - 10) r/min

Reverse operation

OUTM1 ON

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 9 Details on Servo Parameter Objects

3435 hex Speed Conformity Detection Range

csv
Setting range 10 to 20000 Unit r/min Default setting 50 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• It outputs the Speed conformity output (VCMP) when the speed command conforms to the motor
speed.
• It is regarded as conformed when the difference between the speed command before the
acceleration or deceleration process inside the Drive and the motor speed is smaller than the set
value on the Speed Conformity Detection Range (3435 hex).
• The setting has a hysteresis of 10 r/min.
• Refer to the Control Output Details in Control Output Details on page 3-24 for the Speed conformity
output (VCMP).

A speed command after the acceleration 3435 hex

Speed command /deceleration processing Speed Conformity Detection Range
Speed [r/min]

3435 hex Motor speed

Speed Conformity
Detection Range

Time
3435 hex
Speed Conformity Detection Range

9-5 Interface Monitor Settings

Speed conformity
output ON OFF ON OFF

3436 hex Rotation Speed for Motor Rotation Detection

csv
Setting range 10 to 20000 Unit r/min Default setting 1,000 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• It outputs the Motor rotation speed detection output (TGON) when the motor speed reaches the set
arrival speed. 9
• The setting has a hysteresis of 10 r/min.
• Refer to the Control Output Details in Control Output Details on page 3-24 for the Motor rotation
speed detection output (TGON).

Speed [r/min]
Motor speed
3436 hex +10
3436 hex −10

− (3436 hex −10) Time

− (3436 hex +10)
Motor
rotation OFF ON OFF ON
speed
detection
output

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9 Details on Servo Parameter Objects

3437 hex Brake Timing when Stopped All

Setting range 0 to 10000 Unit ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the time required for the Servomotor to be de-energized (servo free) after the brake interlock
output (BKIR) turns OFF (i.e., brake held), when servo OFF status is entered while the Servomotor is
stopped.
• When the servo is turned OFF while the Servomotor is stopped, the brake interlock output (BKIR)
turns ON, and the servo is de-energized after waiting for the set time (set value × ms).

Servo ON/OFF
1 to 6 ms

Brake interlock Held

Released
(BKIR)

tb Held
Actual brake Released

Power No power
Motor power supply supply
is supplied.
3437 hex

Make the setting as follows to prevent the machine (workpiece) from moving or falling due to the
delay time in the brake operation (tb).
Brake timing when stopped (set value × 1 ms) ≥ tb
• For the operation time, refer to 7-5 Brake Interlock on page 7-15.

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 9 Details on Servo Parameter Objects

3438 hex Brake Timing During Operation All

Setting range 0 to 10000 Unit ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the required time for the Brake Interlock Output (BKIR) to turn OFF after the operation command
(RUN) is detected to be OFF, when servo OFF status is entered while the Servomotor is operating.
When the servo is turned OFF while the Servomotor is operating, the motor decelerates to reduce
rotation speed, and the brake interlock output (BKIR) turns ON after the set time (set value × 1 ms)
has elapsed.

Servo ON/OFF

Brake interlock Released Held

(BKIR) TB
No power
Motor power Power supply
is supplied. supply

Motor speed
Max. 3438 hex or
3439 hex set value

The time TB in above drawing is either the brake timing during operation (i.e., the set value × 1 ms) or
the time taken until it goes below the value set in the Brake Threshold Speed During Operation

9-5 Interface Monitor Settings

(3439 hex), whichever is shorter.
• For the operation time, refer to 7-5 Brake Interlock on page 7-15.

3439 hex Brake Threshold Speed During Operation All

Setting range 30 to 3000 Unit r/min Default setting 30 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the required rotation speed for the Brake Interlock Output (BKIR) to turn OFF after the servo OFF
command is detected while the Servomotor is operating.
• For the operation time, refer to 7-5 Brake Interlock on page 7-15.
9
When the 3438 hex set
value comes earlier
Motor rotation speed
3439 hex set value

Brake Release Brake Engage (OFF)

3438 hex
(ON) set value

When the 3439 hex set value

comes earlier 3438 hex
set value
Motor rotation speed
3439 hex set value

Brake Release Brake Engage (OFF)

(ON)

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9 Details on Servo Parameter Objects

3440 hex Warning Output Selection 1 All

Setting range 0 to 13 Unit − Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the warning type to be output by Warning Output 1.

• Refer to 12-2 Warnings on page 12-5.

Explanation of Set Values

Set value Description

0 Output by all types of warnings
1 Overload warning
2 Excessive regeneration warning
3 Battery warning
4 Fan warning
5 Encoder communications warning
6 Encoder overheating warning
7 Vibration warning
8 Service life warning
9 External encoder error warning
10 External encoder communications error warning
11 Data setting warning
12 Command warning
13 EtherCAT communications warning

3441 hex Warning Output Selection 2 All

Setting range 0 to 13 Unit − Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the warning type to be output by Warning Output 2.

• Refer to the Warning Output Selection 1 (3440 hex) for the object setting method.
• Refer to 12-2 Warnings on page 12-5.

3442 hex Positioning Completion Range 2 csp pp hm

Setting range 0 to 262144 Unit Command unit Default setting 10 Data attribute A
Size 4 bytes (INT32) Access RW PDO map Not possible.

• Set the positioning completion range to output Positioning Completion Output 2 (INP2).
• The Positioning Completion Output 2 (INP2) is not affected by the position commands. It is ON as
long as the position error is below the set value.
• The setting unit is command units. It can be changed to encoder units by the Position Setting Unit
Selection (3520 hex). However, note that the unit for the Following error window (6065 hex) will
change as well.

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 9 Details on Servo Parameter Objects

9-6 Extended Objects

3504 hex Drive Prohibition Input Selection All

Setting range 0 to 2 Unit − Default setting 1 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the operation of the Forward Drive Prohibition Input (POT) and the Reverse Drive Prohibition
Input (NOT).
• Refer to 7-2 Forward and Reverse Drive Prohibition Functions on page 7-8.

Explanation of Set Values

Set value Explanation

0 An error will occur if both the forward and reverse drive prohibition inputs are open at the same
time.
1 Forward drive prohibition input and reverse drive prohibition input disabled.
2 An error will occur if either the forward or the reverse drive prohibition input is open.

• Install limit switches at both ends of the axis to prohibit the motor from traveling in the direction where
one of the switches operates. This can be used to prevent the workpiece from traveling too far and
thus prevent damage to the machine.
• When the object is set to 0, the operation is as follows:
• Forward Drive Prohibition Input (POT) closed: Forward limit switch not operating and status
normal.
• Forward Drive Prohibition Input (POT) open: Forward direction prohibited and reverse direction

9-6 Extended Objects

permitted.
• Reverse Drive Prohibition Input (NOT) closed: Reverse limit switch not operating and status
normal.
• Reverse Drive Prohibition Input (NOT) open: Reverse direction prohibited and forward direction
permitted.
• If this object is set to 0, the Servomotor decelerates and stops according to the sequence set in the
Stop Selection for Drive Prohibition Input (3505 hex). For details, refer to explanation for Stop
Selection for Drive Prohibition Input (3505 hex).
9
Precautions for Correct Use
• If this object is set to 0 and the forward and reverse prohibition inputs are both open, a Drive
Prohibition Input Error (Error No. 38.0) will occur because it is taken that Servo Drive is in error
condition.
• If this object is set to 2, a Drive Prohibition Input Error (Error No. 38.0) will occur when the
connection between either the forward or reverse prohibition input and COM is open.
• If a limit switch above the workpiece is turned OFF when using a vertical axis, the upward
torque decreases, and there may be repeated vertical movement of the workpiece. If this
occurs, set the Stop Selection for Drive Prohibition Input (3505 hex) to 2 or perform limit
processing using the host controller.

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9 Details on Servo Parameter Objects

3505 hex Stop Selection for Drive Prohibition Input All

Setting range 0 to 2 Unit − Default setting 0 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the drive conditions during deceleration and after stopping, when the Forward or Reverse Drive
Prohibition Input is enabled.
• Refer to 7-2 Forward and Reverse Drive Prohibition Functions on page 7-8.

Explanation of Set Values

Set value of Set value of Decelerating*2 After stopping

3504 hex*1 3505 hex Deceleration method Error counter Operation after stopping
0 0 Dynamic brake Cleared Torque command in drive-
prohibited direction = 0
1 Free-run Cleared Torque command in drive-
prohibited direction = 0
2 Immediate stop*3 Cleared The torque command and torque
limits will be as specified.

*1 f the Drive Prohibition Input Selection (3504 hex) is set to 2, a Drive Prohibition Input Error (Error No. 38.0) will
occur as soon as either the Forward or Reverse Drive Prohibition Input turns ON. The subsequent operation
conforms not to the set value, but to the setting of the Fault reaction option code (605E hex). In the same way,
the Fault reaction option code (605E hex) takes priority when any other error occurs.
*2 The term “During deceleration” means the distance until the motor decreases its speed to 30 r/min or less from
the normal operation. Once it decelerates to 30 r/min or lower speed, the operation conforms to the description
for “after stopping”, regardless of the actual speed.
*3 “Immediate Stop” means that the Servomotor stops immediately by using controls while the servo is kept ON.
The torque limit at this time is controlled by the Immediate Stop Torque (3511 hex) set value.

Precautions for Correct Use

• At an immediate stop, an Error Counter Overflow Error (Error No. 24.0) or an Overrun Limit
Error (Error No. 34.0) may occur. This is because the immediate stop forces the motor to
decelerate quickly, and the position control creates a large position error momentarily. If an
error occurs, set the Following error window (6065 hex) and the Overrun Limit Setting
(3514 hex) to appropriate values.
• A Command Warning (Warning No. B1 hex) will occur if a command is given in the drive
prohibition direction while the Servomotor is stopped (or decreased the speed to 30 r/min or
lower) and the Drive Prohibition Input is ON.

3508 hex Undervoltage Error Selection All

Setting range 0 to 1 Unit − Default setting 1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select whether to turn OFF the servo or stop operation with an error when the main circuit power
supply is shut OFF.

Explanation of Set Values

Set value Explanation

0 The servo is turned OFF based on the setting of the Shutdown option code (605B hex). The servo
is then turned back ON when the main power supply is turned ON.
1 A Main Power Supply Undervoltage Error (Error No. 13.1) occurs and operation stops.

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 9 Details on Servo Parameter Objects

3509 hex Momentary Hold Time All

Setting range 70 to 2000 Unit ms Default setting 70 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the Main Power Supply Undervoltage Error detection time.

• The main power supply OFF detection is disabled if this object is set to 2000.

3511 hex Immediate Stop Torque All

Setting range 0 to 5000 Unit 0.1% Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the torque limit for immediate stops.

• Set the torque limit for the following cases.
• Drive prohibition deceleration with the Stop Selection for Drive Prohibition Input (3505 hex) set to 2.
• When decelerating and the Disable operation option code (605C hex) is −5 or −4
• When decelerating and the Shutdown option code (605B hex) is −5 or −4
• The normal torque limit is applied if this object is set to 0.
• Set the value in units of 1% of the rated torque (100%).

3512 hex Overload Detection Level Setting All

Setting range 0 to 500 Unit % Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the overload detection level.

• When the object is set to 0, the setting is 115%.

9-6 Extended Objects

• If 115 or higher is set, a value of 115% will be used.
• Set the value in units of 1% of the rated torque (100%).

3513 hex Overspeed Detection Level Setting All

Setting range 0 to 20000 Unit r/min Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the overspeed detection level. 9

• The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this object is
set to 0.
• This object should normally be set to 0. The setting should be changed only when it is necessary to
lower the overspeed detection level.
• The set value of this object is limited to 1.2 times the maximum motor rotation speed.
• The detection margin of error for the set value is ±3 r/min for a 5-core absolute encoder and
±36 r/min for a 5-core incremental encoder.

3514 hex Overrun Limit Setting csp pp hm

Setting range 0 to 1000 Unit 0.1 rotation Default setting 10 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the allowable operating range for the position command input range.
• If the set value is exceeded, and Overrun Limit Error (Error No. 34.0) will occur.
• Refer to 7-3 Overrun Protection on page 7-11.

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9 Details on Servo Parameter Objects

3515 hex Control Input Signal Read Setting All

Setting range 0 to 3 Unit − Default setting 0 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the signal read cycle for control input (digital input).
• The External Latch Inputs 1, 2 and 3 (EXT1, 2, and 3) are excluded.
• The Servo Drive reads an input signal multiple times at the specified cycle. If the Servo Drive reads
the same signal for multiple consecutive cycles, then the input signal is valid.

Explanation of Set Values

Set value Description

0 0.250 ms
1 0.500 ms
2 1.5 ms
3 2.5 ms

3520 hex Position Setting Unit Selection csp pp hm

Setting range 0 to 1 Unit − Default setting 0 Data attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the setting unit of Position Completion Range 2 (3442 hex) and Following error window
(6065 hex).

Explanation of Set Values

Set value Description

0 Command units
1 Encoder units (External encoder units)

Precautions for Correct Use

• Detection of the Positioning Completed status in EtherCAT communications is always
performed using command units, regardless of the setting on this object.
• Normally, use the default setting of 0 (command units).

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 9 Details on Servo Parameter Objects

3521 hex Torque Limit Selection All

Setting range 0 to 7 Unit − Default setting 6 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select the method to set the forward and reverse torque limits.
• Refer to 7-7 Torque Limit Switching on page 7-24.

Explanation of Set Values

Position control/speed control/torque control/fully-closed control

Set value Positive torque limit value*1 Negative torque limit value*2
PCL ON PCL OFF NCL ON NCL OFF
0,1 3013 hex
2 3013 hex 3522 hex
3 3522 hex 3013 hex 3522 hex 3013 hex
4 60E0 or 3013 hex*3 60E1 or 3522 hex*4
5 60E0 or 3013 hex*3 3013 hex 60E1 or 3522 hex*4 3522 hex
6 3525 hex 60E0 or 3013 hex*3 3526 hex 60E1 or 3522 hex*4
7 3013 hex 3525 hex 3522 hex 3526 hex

*1 PCL ON is the state in which either the external input signal (PCL) or the EtherCAT communications torque
control command (P-CL) is ON; PCL OFF is the state in which both of these are OFF.
*2 NCL ON is the state in which either the external input signal (NCL) or the EtherCAT communications torque
control command (N-CL) is ON; NCL OFF is the state in which both of these are OFF.
*3 The smaller of 60E0 hex or 3013 hex is used.
*4 The smaller of 60E1 hex or 3522 hex is used.

9-6 Extended Objects

• When this object is set to 0 or 1, the Forward and Reverse Torque Limit Inputs are restricted by the
Positive torque limit value (60E0 hex).

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 9 Details on Servo Parameter Objects

3522 hex External Torque Limit 2 All

Setting range 0 to 5000 Unit 0.1% Default setting 5000*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 It is limited by the maximum torque of the connected motor.

• Set the limit value for the output torque (3013 hex: External Torque Limit 1, 3522 hex: External Torque Limit 2) of
the motor.
• Refer to information on the Torque Limit Selection (3521 hex) to select the torque limits.
• During torque control, maximum torques for both forward and reverse directions are limited. Settings
in Torque Limit Selection (3521 hex) and External Torque Limit 2 (3522 hex) is ignored.
• Make the settings as a percentage of the rated torque.
[Example] Maximum torque is limited to 150%

Torque [%] Forward

300 (maximum)

When 3013 or 3522 hex = 150 200

100 (rated)

Speed
100 (rated) (maximum)

200

300
Reverse

• Refer to 7-7 Torque Limit Switching on page 7-24 for more information on torque limits and the torque
limit selection.

3525 hex Forward External Torque Limit All

Setting range 0 to 5000 Unit 0.1% Default setting 5000*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 It is limited by the maximum torque of the connected motor.

• Set the forward external torque limit for the torque limit switching input.
• Set the value in units of 0.1% of the rated torque (100%).

3526 hex Reverse External Torque Limit All

Setting range 0 to 5000 Unit 0.1% Default setting 5000*1 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

*1 It is limited by the maximum torque of the connected motor.

• Set the reverse external torque limit for the torque limit switching input.
• Set the value in units of 0.1% of the rated torque (100%).

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 9 Details on Servo Parameter Objects

9-7 Special Objects

3602 hex Excessive Speed Error Setting csp (semi) pp (semi) hm (semi)
Setting range 0 to 20000 Unit r/min Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the value for an Excessive Speed Deviation Error (Error No. 24.1).
If the set value is 0, excessive speed errors will not be detected.

3605 hex Gain 3 Effective Time csp

Setting range 0 to 10000 Unit 0.1 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set effective time of gain 3 of 3-step gain switching.

• Refer to 7-10 Gain Switching 3 Function on page 7-38.

3606 hex Gain 3 Ratio Setting csp

Setting range 50 to 1000 Unit % Default setting 100 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set gain 3 as a multiple of gain 1.

• Refer to 7-10 Gain Switching 3 Function on page 7-38.

3607 hex Torque Command Value Offset All

Setting range −100 to 100 Unit % Default setting 0 Data attribute B

9-7 Special Objects

Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the offset torque to add to torque commands.

• Refer to 11-9 Friction Torque Compensation Function on page 11-34.
• Set the value in units of 1% of the rated torque (100%).

3608 hex Forward Direction Torque Offset All 9

Setting range −100 to 100 Unit % Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the value to add to a torque command for forward operation.

• Refer to 11-9 Friction Torque Compensation Function on page 11-34.
• Set the value in units of 1% of the rated torque (100%).

3609 hex Reverse Direction Torque Offset All

Setting range −100 to 100 Unit % Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the value to add to a torque command for reverse operation.

• Refer to 11-9 Friction Torque Compensation Function on page 11-34.
• Set the value in units of 1% of the rated torque (100%).

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9 Details on Servo Parameter Objects

3610 hex +Function Expansion Setting All

Setting range 0 to 127 Unit − Default setting 64 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the functions by bit.

• Set the decimal value that has been converted from the bits.
• In the default settings, only the command compensation for communications errors for CSP is
enabled. The number 64 decimal is 1000 000 when represented as bits.
• Refer to 11-8 Disturbance Observer Function on page 11-32 and 11-12 Instantaneous Speed
Observer Function on page 11-40.

Set value
Bit Function
0 1
bit 0 Instantaneous speed observer function Disabled Enabled
bit 1 Disturbance observer function Disabled Enabled
bit 2 Disturbance observer operation setting Enabled at all time Only when gain 1 is
selected
bit 3 Reserved for manufacturer use Fixed to 0.
bit 4 Electric current response improvement Disabled Enabled
function
bit 5 Reserved for manufacturer use Fixed to 0.
bit 6 Command compensation for Disabled Enabled
communications errors for CSP

• If the command compensation for communications errors for CSP is enabled and a communications
error occurs, the Servo Drive will compensate and control the internal command based on the value
of the Target position (607A hex) that was most recently received normally.

Communications cycle

Command
position

Command 0
speed
Solid line: Command compensation enabled.
Dashed line: Command compensation disabled.
: Normal communications
×: Communications error

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 9 Details on Servo Parameter Objects

Additional Information

Example
• Instantaneous speed observer function: enabled
• Disturbance observer function: enabled
• Disturbance observer operation setting: enabled at all time
• Electric current response improvement function: enabled
• Command compensation for communications errors for CSP: Disabled
If the settings are as described above, the bit will be 0010011, and the decimal value 19.
Therefore, the set value will be 19.

3611 hex Electric Current Response Setting All

Setting range 50 to 100 Unit % Default setting 100 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Make fine adjustment to electric current response. The default setting is 100%.

3614 hex Error Detection Allowable Time Setting All

Setting range 0 to 1000 Unit ms Default setting 200 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the allowable time until stopping if an immediate stop is executed when an error is detected.
• When the time exceeds the set value, the operation forcibly turns to an error state.
• When the object is set to 0, the protection for the allowable time does not function.
• Refer to the Immediate Stop Operation on page 12-13.

9-7 Special Objects

3615 hex Overspeed Detection Level Setting at Immediate Stop All
Setting range 0 to 20000 Unit r/min Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• If the motor speed exceeds the set value during an immediate stop resulting from an error, an
Overspeed 2 Error (Error No. 26.1) will occur.
• The overspeed detection level setting is 1.2 times the maximum motor rotation speed if this object is 9
set to 0.
• This object should normally be set to 0. The setting should be changed only when it is necessary to
lower the overspeed detection level.
• Refer to Immediate Stop Operation on page 12-13.

3618 hex Power Supply ON Initialization Time All

Setting range 0 to 100 Unit 0.1 s Default setting 0 Data attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the initialization time after turning ON the power supply to the standard 1.5 seconds plus the
specified value.
• Refer to the Control Output Sequence in 3-1 Servo Drive Specifications on page 3-2 for the details at
power ON.

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9 Details on Servo Parameter Objects

3623 hex Disturbance Torque Compensation Gain csp (semi) csv pp (semi) hm (semi)
Setting range −100 to 100 Unit % Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the compensation gain for the disturbance torque.

• Refer to 11-8 Disturbance Observer Function on page 11-32.

3624 hex Disturbance Observer Filter Setting csp (semi) csv pp (semi) hm (semi)
Setting range 10 to 2500 Unit 0.01 ms Default setting 53 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the filter time constant for disturbance torque compensation.

• Refer to 11-8 Disturbance Observer Function on page 11-32.

3631 hex Realtime Autotuning Estimated Speed Selection All

Setting range 0 to 3 Unit − Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
• The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
• The estimated results is updated in every 30 minutes and saved in EEPEOM.
• Refer to 11-3 Realtime Autotuning on page 11-7.

Explanation of Set Values

Set value Mode Description

0 No change Stops load estimation.
1 Little change Estimates every minute from the load characteristic changes.
2 Gradual change Estimates every second from the load characteristic changes.
3 Sharp change Estimates the optimum from the load characteristic changes.

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 9 Details on Servo Parameter Objects

3632 hex Realtime Autotuning Customization Mode Setting All

Setting range −32768 to Unit − Default setting 0 Data attribute B
32767
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the details of the autotuning function when the Realtime Autotuning Mode Selection (3002 hex) is
set to 6.
• Refer to 11-3 Realtime Autotuning on page 11-7.

Explanation of Set Values

Bit Name Description

0 to 1 Load characteristic Select to enable or disable load characteristic estimation.
estimation *1 0: Disable
1: Enable
2 to 3 Inertia ratio updating Select whether to update the present set value of the Inertial Ratio
(3004 hex) with the load characteristic estimation result.
0: Use the present set value.
1: Update with the estimation result.
4 to 6 Torque compensation Select whether to update three objects, Torque Command Value Offset
(3607 hex), Forward Direction Torque Offset (3608 hex), and Reverse
Direction Torque Offset (3609 hex), with the load characteristic
estimation result.
0: Use the present set value.
1: Disable the torque compensation. Clear the above three objects to
zero.
2: Vertical mode. Update 3607 hex. Clear 3608 hex and 3609 hex to
zero.

9-7 Special Objects

3: Friction compensation (small). Update 3607 hex. Set a small
compensation to 3608 hex and 3609 hex.
4: Friction compensation (intermediate). Update 3607 hex. Set an
intermediate compensation in 3608 hex and 3609 hex.
5: Friction compensation (large). Update 3607 hex. Set a large
compensation in 3608 hex and 3609 hex.
7 Rigidity setting Select to enable or disable the basic gain setting by the Realtime
Autotuning Machine Rigidity Setting (3003 hex).
9
0: Disable
1: Enable
8 Fixed object settings Select whether to allow changes to the objects that normally are fixed.
0: Use the present settings.
1: Set to fixed values.
9 to 10 Gain switch setting Select the method to set the objects that relate to gain switching while
the realtime autotuning is enabled.
0: Use the present settings.
1: Disable gain switching.
2: Enable gain switching.

*1 When load characteristic estimation is disabled, inertial ratio updating is also disabled, even if the latter is set
to be updated with the estimation result. When torque compensation is updated with the estimation result, load
characteristic estimation is disabled.

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9 Details on Servo Parameter Objects

Precautions for Safe Use

• This object must be set in units of bits. Users must be fully aware that proper operation of your
system is not guaranteed, if you have incorrect object settings. Pay a particular attention when
you set them.

Additional Information

Procedure to Set the Object Bit by Bit

Follow these steps and calculate the set values, when you make any setting other than 0.
(1) Confirm the least significant bit (LSB) in each set value.
E.g. LSB of Torque compensation function: 4
(2) Multiply the set value by 2 to the power of the bit number of the LSB.
E.g. To set the torque compensation to Friction compensation (small): The set value is
3. The exponent is 4.
24 × 3 = 48
(3) Repeat Step (1) and (2) for all bit settings. Add all results and set the outcome to 3632
hex.
E.g. When all of the Load characteristic estimation, the Inertia ratio updating, the
Rigidity setting, and the Gain switch setting are enabled, the Torque compensation is
set to Friction compensation (small), and the Fixed object setting is set to a Fixed value:
20 × 1 + 22 × 1 + 24 × 3 + 27 × 1 + 28 × 1 + 29 × 2 = 1461

3634 hex Hybrid Vibration Suppression Gain csp (semi) pp (semi) hm (semi)
Setting range 0 to 30000 Unit 0.1/s Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the hybrid vibration suppression gain during fully-closed control.

• In general, set it to the same value as the position loop gain, and finely adjust it based on the
situation.
• Refer to 11-10 Hybrid Vibration Suppression Function on page 11-36.

3635 hex Hybrid Vibration Suppression Filter csp (semi) pp (semi) hm (semi)
Setting range 0 to 6400 Unit 0.01 ms Default setting 10 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the hybrid vibration suppression filter.

• Refer to 11-10 Hybrid Vibration Suppression Function on page 11-36.

3637 hex Vibration Detection Threshold All

Setting range 0 to 1000 Unit 0.1% Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the vibration detection threshold.

• If torque vibration that exceeds this setting is detected, a vibration detection warning occurs.
• Refer to 12-2 Warnings on page 12-5.
• Set the value in units of 0.1% of the rated torque (100%).

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 9 Details on Servo Parameter Objects

3638 hex Warning Mask Setting All

Setting range −32768 to Unit − Default setting 4 Data attribute C
32767
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the warning detection mask setting.

• If you set the corresponding bit to 1, the corresponding warning detection is disabled.
• Refer to the General Warnings on page 12-6.

Warning Warning Mask

Warning name Warning condition
number Setting (3638 hex) *1
A0 Overload warning The load ratio is 85% or more of the protection level. Bit 7
A1 Excessive The regeneration load ratio is 85% or more of the Bit 5
regeneration warning level.
A2 Battery warning Battery voltage is 3.2 V or less. Bit 0
A3 Fan warning The fan stops for 1 second. Bit 6
A4 Encoder Encoder communications errors occurred in series Bit 4
communications more than the specified value.
warning
A5 Encoder overheating The encoder temperature exceeded the specified Bit 3
warning value.
A6 Vibration detection Vibration is detected. Bit 9
warning
A7 Life expectancy The life expectancy of the capacitor or the fan is Bit 2
warning shorter than the specified value.
A8 External encoder The external encoder detects a warning. Bit 8
error warning

9-7 Special Objects

A9 External encoder The external encoder has more communications Bit 10
communications errors in series than the specified value.
warning

*1 Each warning detection can be masked with the Warning Mask Setting (3638 hex). The table above shows the
corresponding bits. When a bit is set to 1, the warning detection is masked.

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9 Details on Servo Parameter Objects

3700 hex LED Display Selection All

Setting range 0 to 32767 Unit − Default setting 0 Data attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select a data type to display on the 7-segment display on the front panel.

Explanation of Set Value

Set value Indicated item Description

0 Normal state Displays “− −” during Servo-OFF, and “00” during Servo ON.
1 Mechanical angle Displays a value between 0 and FF hex.
The value 0 indicates the zero position of the encoder.
The value increments when the motor rotates in the counterclockwise (CCW)
direction.
The value returns to 0 when it exceeds FF, but the count continues.
When an incremental encoder is used, it indicates “nF” (i.e., not fixed) is
displayed until the zero position of the encoder is detected after the control
power is turned ON.
2 Electric angle Displays a value between 0 and FF hex.
The value 0 indicates the position when the U-phase electro-motive force
shows the positive peak.
The value increments when the motor rotates in the counterclockwise (CCW)
direction.
The value returns to 0 when it exceeds FF, but the count continues.
3 Total number of Displays a value between 0 and FF hex.
EtherCAT The cumulative count is saturated when it reaches the maximum value
communications (FFFF hex).
errors*1 In this case, only the lowest order byte is shown.
The value returns to 00 when it exceeds FF, but the count continues.
4 Rotary switch setting Displays the rotary switch setting (i.e. node address) read at power-ON. The
(node address) displayed value is in decimal.
The value is not altered by any changes to the rotary switch setting after the
power-ON.
5 Total number of Displays a value between 0 and FF hex.
encoder The cumulative count is saturated when it reaches the maximum value
communications (FFFF hex).
errors*1 In this case, only the lowest order byte is shown.
6 Total number of The value returns to 00 when it exceeds FF, but the count continues.
external encoder
communications
errors*1
7 Z-phase counter *2 Displays the Z-phase count value read from the external encoder when an
incremental external encoder is used during fully-closed control. The value
between 0 an FF hex is displayed.
8 or over Unused Do not set anything.

*1 The cumulative count of communication errors is cleared when the control power is cut OFF.
*2 The value read from the encoder is indicated directly, regardless of the External Feedback Pulse Direction
Switching (3326 hex).

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 9 Details on Servo Parameter Objects

3701 hex Power ON Address Display Duration Setting All

Setting range 0 to 1000 Unit 100 ms Default setting 0 Data Attribute R
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the time to indicate the node address when the control power is turned ON.

3703 hex Torque Limit Flag Output Setting cst

Setting range 0 to 1 Unit − Default setting 0 Data Attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the condition for torque limit output during torque control.

Explanation of Set Value

Set value Description

0 On by the torque limit value including the torque command value.
1 On by the torque limit value excluding the torque command value.

3704 hex Backlash Compensation Selection csp pp hm

Setting range 0 to 2 Unit − Default setting 0 Data Attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select to enable or disable the backlash compensation during position control. Set the compensation
direction when compensation is enabled.
• Refer to 7-4 Backlash Compensation on page 7-13.

Explanation of Set Value

9-7 Special Objects

Set value Description
0 Disable backlash compensation.
1 Compensate for backlash at first forward operation after the servo turns ON.
2 Compensate for backlash at first reverse operation after the servo turns ON.

3705 hex Backlash Compensation Amount csp pp hm 9

Setting range −32768 to Unit Command unit Default setting 0 Data Attribute B
32767
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the backlash compensation amount during position control.

• Refer to 7-4 Backlash Compensation on page 7-13.

3706 hex Backlash Compensation Time Constant csp pp hm

Setting range 0 to 6400 Unit 0.01 ms Default setting 0 Data Attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the backlash compensation time constant for position control.

• Refer to 7-4 Backlash Compensation on page 7-13.

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9 Details on Servo Parameter Objects

3758 hex Touch Probe Trigger Selection All

Setting range 0000 to Unit − Default setting 0100 hex Data Attribute B
FFFF hex
Size 2 bytes (U16) Access RW PDO map Not possible.

• Select EXT1, EXT2, EXT3, or phase Z at the external latch trigger for the latch function.
• For details on the latch function, refer to 7-11 Touch Probe Function (Latch Function) on page 7-40.

Bit Descriptions

Latch 1 Latch 2
Bit 0 Bit 1 Trigger signal 1 Bit 8 Bit 9 Trigger signal 2
0 0 EXT1 0 0 EXT1
1 0 EXT2 1 0 EXT2
0 1 EXT3 0 1 EXT3
1 1 Phase-Z signal 1 1 Phase-Z signal

3759 hex Warning Hold Selection All

Setting range 0000 to Unit − Default setting 0000 hex Data Attribute R
FFFF hex
Size 2 bytes (U16) Access RW PDO map Not possible.

• Select whether to hold communications-related and general warning status.

Bit Descriptions

Warning
Bit Function Set value Resetting warning status
status
0 Holding 0 Do not hold The warnings are automatically cleared when the
Communications- cause of the warning is eliminated. However,
related Warning warnings are held for at least 1 s.
Status 1 Hold Remove the cause of the warning and then send a
warning reset command.
1 Holding General 0 Do not hold The warnings are automatically cleared when the
Warning Status*1 cause of the warning is eliminated. However,
warnings are held for at least 1 s.
1 Hold Remove the cause of the warning and then send a
warning reset command.

*1 The warning state for the Battery Warning (A2 hex) and Life Expectancy Warning (A7 hex) will be held
independent of this setting.

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 9 Details on Servo Parameter Objects

3781 hex Data Setting Warning Detection Setting All

Setting range 0 to 15 Unit Times Default setting 1 Data Attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.
• Set how many times the EtherCAT communications data setting warning should be detected
continuously without an error.
• If a Data Setting Warning (Warning No. B0 hex) occurs more than this setting, a Command Error
(Error No. 91.1) will occur.
• It can be set to between 0 and 15. The error will occur when the number of detected Data Setting
Warning exceeds this set value + 1.

Additional Information

• This object is supported for unit version 2.1 or later.

• In the default setting, the data setting warning (Warning No. B0 hex) will not occur because
the Communications Control (3800 hex) bit 14 is 1, and therefore no Command Error (Error
No. 91.1) will occur.
• To enable this setting, set the Communications Control (3800 hex) bit 14 to 0.
• When you enable this setting and do not change the default setting value (default: 1), a
Command Error will occur if the data setting warning is detected twice in a row.

3800 hex Communications Control All

Setting range −32768 to Unit − Default setting Refer to the Data Attribute C
32767 description.
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the error and warning masks for EtherCAT communications.

9-7 Special Objects

Precautions for Correct Use
This function is for debugging. For normal operation, leave this object at the default setting.

• Bit Descriptions

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Function Error masks Warning masks Error masks 9
• Error masks
The following table shows the error you can mask by setting each error mask bit of the
Communications Control object (3800 hex).
To mask an error, set the corresponding error bit to 1.

Error
Communications Control (3800 hex)
Error No. (hex) Error name
Bit 1 83.1 EtherCAT state change error
Bit 2 83.2 EtherCAT illegal state change error
Bit 3 83.3 Communications synchronization error
Bit 12 83.4 Synchronization error
Bit 13 83.5 Sync Manager WDT Error
Bit 14 *1 91.1 Command Error

*1. Only Command Errors (Error No. 91.1) due to the data setting warning (B0 hex) are masked. Command
Errors (Error No. 91.1) due to other causes are not masked.
For details on the causes of a Command Error (Error No. 91.1), refer to Command error on page 12-27.

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9 Details on Servo Parameter Objects

• Warning masks
The following table shows the warning you can mask by setting each warning mask bit of the
Communications Control object (3800 hex).
To mask a warning, set the corresponding warning bit to 1.

Warning
Communications
Warning
Control (3800 hex) Warning name Warning occurrence conditions
number
Bit 4 B0 hex Data setting warning • The set value in the command argument is
out of the specified range.
• Object write processing failed.
• The command set value is incorrect.
Bit 5 B1 hex Command warning • The command transmission conditions are
not met.
• The sub-command transmission conditions
are not met.
• An operation command is given in the prohib-
ited direction after the motor made an emer-
gency stop due to a drive prohibition input.
Bit 6 B2 hex EtherCAT EtherCAT communications errors occurred one
communications or more times.
warning

• Default setting
The following table shows the default setting for each unit version.

Unit version Default setting Description

Ver. 2.0 0 The above masks are disabled.
Bit 14 is reserved for system use. Do not change the default
setting.
Ver. 2.1 16384 Because bit 14 is 1 in the default setting, only Command Errors
(Error No. 91.1) due to the data setting warning (B0 hex) are
masked.

3801 hex Software Position Limit Function All

Setting range 0 to 3 Unit − Default setting 3 Data Attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Select whether to enable or disable the software position limit function.

• When it is enabled, set the software limit values in the Max position limit (607D-02 hex) and the Min
position limit (607D-01 hex).

Explanation of Set Value

Set value Description

0 Enable the software limits in both directions.
1 Disable the forward software limit, but enable the reverse software limit.
2 Enable the forward software limit, but disable the reverse software limit.
3 Disable the software limits in both directions.

Precautions for Correct Use

EtherCAT communications status will be 0 for limit signals that are disabled. The status will also
be 0 if an origin return has not been performed.

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 9 Details on Servo Parameter Objects

3803 hex Origin Range All

Setting range 0 to 250 Unit Command unit Default setting 10 Data Attribute A
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the threshold for detecting the origin as an absolute value.

3818 hex Position Command FIR Filter Time Constant csp pp hm

Setting range 0 to 10000 Unit 0.1 ms Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.

• Set the time constant of FIR filter for the position command.
• The Position command FIR filter can be selected to enable or disable, by the position command filer
switch input via EtherCAT communications.
• Enable and disable the position command FIR filter in the Motion profile type (6086 hex).
It can be set only when the Communications synchronization is 1 ms or more.
• It sets the time to arrive at the target speed Vc, as shown below, for the square-wave command of
Vc.

Pre-filter Post-filter
Speed [r/min] position command position command
Vc

9-7 Special Objects

Position Command FIR Filter Filter switching
Time Constant [ms] dwell time *1
3818 hex × 0.1 ms
*1 Change the setting on 3818 hex only after you stop the command pulse and the filter switching dwell time
elapses. The dwell time is calculated by the following formulas depending on the value set on 3818 hex.
If 3818 hex set value ≤ 10 ms, the set value × 0.1 ms + 0.25 ms.
If 3818 hex set value > 10 ms, the set value × 0.1 ms × 1.05.
9
Precautions for Correct Use
• If the set value on 3818 hex is changed during the position command is entered, the change is
not reflected immediately. It is updated only after the subsequent state of no position
command persists for the filter switching dwell time.
• There is some time lag from when the 3818 hex is change and to when the change is applied.
If the filter switching dwell time elapses during the lag, the change may be suspended.

3822 hex Reserved

Setting range − Unit − Default setting − Data attribute −
Size − Access − PDO map −

• This is a reserved parameter. Do not set any value.

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9 Details on Servo Parameter Objects

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Operation
This chapter explains the operating procedures and how to operate in each mode.

10-1 Operational Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10-2 Preparing for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10-2-1 Items to Check Before Turning ON the Power Supply . . . . . . . . . . . . . . . . . . 10-3
10-2-2 Turning ON the Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10-2-3 Checking the Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10-2-4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10-2-5 Setting Up an Absolute Encoder from the CX-Drive. . . . . . . . . . . . . . . . . . . . 10-7
10-3 Trial Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10-3-1 Preparations for Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-8
10-3-2 Test Operation via USB Communications from the CX-Drive . . . . . . . . . . . . 10-9

10

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10 Operation

10-1 Operational Procedure

Turn ON the power supply after the correct installation and wiring to check the operation of the
individual motor and drive.
Then make the function settings as required according to the use of the motor and drive.
If the user objects are set incorrectly, there is a risk of unexpected motor operation, which can be
dangerous. Set the objects accurately according to the setting methods in this manual.

Item Contents Reference

Install the motor and drive according to the installation conditions.
Mounting and
(Do not connect the motor to the mechanical system before Chapter 4, 4-1
installation
checking no-load operation.)

Connect the motor and drive to the power supply and peripheral
Wiring and equipment.
Chapter 4, 4-2
connections Specified installation and wiring conditions must be satisfied,
particularly for models conforming to the EC Directives.

Check the necessary items and then turn ON the power supply.
Check on the display to see whether there are any internal errors
Preparing for
in the drive. Chapter 10, 10-2
operation
If using a motor with an absolute encoder, first set up the absolute
encoder.

Set the objects related to the functions required for application

Function settings Chapter 9
conditions.

First, check motor operation with no-load. Then turn the power
supply OFF and connect the motor to the mechanical system.
When using a Servomotor with an absolute encoder, set up the
absolute encoder.
Trial operation Turn ON the power supply again, and check to see whether Chapter 10, 10-3
protective functions, such as the immediate stop and operational
limits, are functioning properly.
Check operation at both low speed and high speed using the
system without a workpiece, or with dummy workpieces.

Manually adjust the gain if necessary.

Adjustment Further adjust the various functions to improve the control Chapter 11
performance.

Operation can now be started.

Operation If any problems should occur, refer to Chapter 12 Troubleshooting Chapter 12
and Maintenance.

10-2 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 10 Operation

10-2 Preparing for Operation

This section explains the procedure to prepare the mechanical system for operation following
installation and wiring of the motor and drive. It explains items to check both before and after turning
ON the power supply.
It also explains the setup procedure required if using a motor with an absolute encoder.

10-2-1 Items to Check Before Turning ON the Power Supply

Checking Power Supply Voltage

• Check to be sure that the power supply voltage is within the ranges shown below.
R88D-KNA5L-ECT/-KN01L-ECT/-KN02L-ECT/-KN04L-ECT (Single-phase 100-VAC input)
Main circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
Control circuit power supply: Single-phase 100 to 120 VAC (85 to 132) 50/60 Hz
R88D-KN01H-ECT/-KN02H-ECT/-KN04H-ECT/-KN08H-ECT/-KN10H-ECT/-KN15H-ECT
(Single-phase or single-phase/3-phase 200-VAC input)
Main circuit power supply: Single-phase or single-phase/3-phase 200 to 240 VAC (170 to 264) 50/60 Hz
Control circuit power supply: Single-phase 200 to 240 VAC (170 to 264) 50/60 Hz
R88D-KN20H-ECT/-KN30H-ECT/-KN50H-ECT/-KN75H-ECT/-KN150H-ECT
(3-phase 200 VAC input)
Main circuit power supply: 3-phase 200 to 230 VAC (170 to 253) 50/60 Hz
Control circuit power supply: Single-phase 200 to 230 VAC (170 to 253) 50/60 Hz
R88D-KN06F-ECT/-KN10F-ECT/-KN15F-ECT/-KN20F-ECT/-KN30F-ECT/-KN50F-ECT/-KN75F-ECT/
-KN150F-ECT (3-phase 400 VAC input)
Main circuit power supply: 3-phase 380 to 480 VAC (323 to 528) 50/60 Hz

10-2 Preparing for Operation

Control circuit power supply: 24 VDC ± 15%

Checking Terminal Block Wiring

• The main circuit power supply inputs (L1/L3 or L1/L2/L3) must be properly connected to the terminal
block.
• The control circuit power supply inputs (L1C/L2C) must be properly connected to the terminal block.
• The motor's red (U), write (V), and blue (W) power lines and the green/yellow ( ) must be properly
connected to the terminal block.
10

Checking the Motor

ON the Power Supply
10-2-1 Items to Check Before Turning

• There should be no load on the motor. (Do not connect the mechanical system.)
• The motor side power lines and the power cables must be securely connected.

Checking the Encoder Wiring

• The encoder cable must be securely connected to the encoder connector (CN2) at the drive.
• The encoder cable must be securely connected to the encoder connector at the motor.

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 10-3
10 Operation

Checking the EtherCAT Communications Connectors

• The EtherCAT Communications Cables must be connected securely to the EtherCAT
Communications Connectors (ECAT IN and ECAT OUT).

Checking the Node Address Setting

Make sure that the node address is correctly set on the node address switches.
Status indicators
 RUN Node address switch
 ERR
 L/A IN ADR
 L/A OUT

x10 x1
CN5

Contents
Node address
switch setting Connection to NJ/NX-series CPU Unit or
CJ1W-NC8 Position Control Unit
00 The controller sets the node address.
01 to 99 The Node Address switch setting is used as the node address.

Precautions for Correct Use

• Do not change the setting on the Node Address switches after the power supply has been
turned ON.
• The node address switches can be set to between 00 and 99.
The node address used over the network is determined by the value set on the Node Address
switches.
If the node address is not between 00 and 99, a Node Address Setting Error (Error No. 88.0)
will occur.

10-2-2 Turning ON the Power Supply

• Turn ON the control circuit power after you conduct the pre-power-ON checking.
You may turn ON the main circuit power, but it is not a required.

10-4 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 10 Operation

10-2-3 Checking the Displays

7-Segment Display
The 7-segment display is on the front panel.
When the power is turned ON, it shows the node address that is set by the rotary switches. Then the
display changes according to the setting of the LED Display Selection (3700 hex).
An error code is displayed if an error occurs. A warning code is displayed if a warning occurs.

Control power ON

Fully OFF

Fully ON

Node Address Display “nA” (node address, approx. 0.6 s)

Rotary switch setting

(upper digit (×10) = 0, lower digit (×1) = 3)
(It lasts for the period set in the Power ON Address
Display Duration Setting (3701 hex).)

10-2 Preparing for Operation

To A on the next page

10
10-2-3 Checking the Displays

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 10-5
10 Operation

Normal Display (LED Display Selection (3700 hex) set to 0)

Main power supply Main power supply

turned ON and EtherCAT interrupted and EtherCAT
communications communications not
established. established.
+ Dot on right lights.

Servo ON Servo OFF

+ Dot on right lights.

Error occurs Error cleared Warning occurs Warning cleared

Error Display*1 Warning Display

The main error code flashes The hexadecimal warning code and the
as a decimal (example for an overload). normal display are displayed alternately
(example for an overload).

Warning code Normal code

(for 2 s) (for approx. 4 s)

*1 : “ ” will flash when a Safety Input Error (Error No. 30.0) occurs.
“ ” does not flash on the display.

EtherCAT Status Indicators

Check the status of the status indicators.
If the RUN indicator will not turn ON or the ERR indicator will not turn OFF, refer to Status Indicators on
page 5-3 and check the status.

10-6 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 10 Operation

10-2-4 Absolute Encoder Setup ABS

You must set up the absolute encoder if using a motor with an absolute encoder. The setup is required
when you turn ON the power supply for the first time, when an Absolute Encoder System Down Error
(Error No. 40.0) occurs, or when the encoder cable is disconnected and then connected again.

To use an absolute encoder, set the Operation Switch when Using Absolute Encoder (3015 hex) to 0 or
2 (factory setting).
Refer to the CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882 Position Control Unit Operation
Manual (Cat. No. W487) and to information on Absolute Encoder Setup (4102 hex) to set up the
absolute encoder.
Set up an absolute encoder while the servo is OFF. Always cycle the power supply after completing the
setup.
For information on setup using the CX-Drive, refer to “CX-Drive Operation Manual (W453-E1)” or
Setting Up an Absolute Encoder from the CX-Drive described below.

10-2-5 Setting Up an Absolute Encoder from the CX-Drive

1 Start the CX-Drive and go online with the Servo Drive via EtherCAT or USB communications.

2 Select Absolute Encoder from the Tuning Menu of the CX-Drive.

3 Select Multi-Turn Data and Encoder Error Clear from the Absolute Encoder Dialog Box.
The following error will occur after execution has been completed.
EtherCAT communications: Position Data Initialized (Error No. 27.7)

10-2 Preparing for Operation

USB communications: Absolute Value Cleared (Error No. 27.1)

4 Turn the power supply to the Servo Drive OFF and then ON again.

10
10-2-4 Absolute Encoder Setup

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 10-7
10 Operation

10-3 Trial Operation

When you have finished installation, wiring, and switch settings, and have confirmed that status is
normal after turning ON the power supply, perform trial operation. The main purpose of trial operation is
to confirm that the servo system is electrically correct.
If an error occurs during trial operation, refer to Chapter 12 Troubleshooting and Maintenance to
eliminate the cause. Then check for safety, and retry trial operation.

10-3-1 Preparations for Trial Operation

Inspections before Trial Operation

Check the following items.

 Wiring
• Make sure that there are no wiring errors (especially for the power supply input and motor output).
• Make sure that there are no short-circuits. (Check the ground for short circuits as well.)
• Make sure that there are no loose connections.

 Power Supply Voltage

• Make sure that the voltage corresponds to the rated voltage.
• Is the voltage stable?

 Motor Installation
• Make sure that the Servomotor is securely installed.

 Disconnection from Mechanical System

• If necessary, make sure that the load has been disconnected from the mechanical system.

 Brake Released
• Make sure that the brake has been released.

 Connections to the Mechanical System

• Are the load and Servomotor shaft properly aligned?
• Is the load on the Servomotor shaft within specifications?

10-8 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 10 Operation

10-3-2 Test Operation via USB Communications from the CX-Drive

1 Use the Connector CN1.

2 Turn ON the Servo Drive power.

3 Connect a USB cable to the USB connector (CN7).

4 Start the CX-Drive and go online with the Servo Drive via USB communications.

5 Select Test Run from the Tuning Menu of the CX-Drive.

6 Select Servo ON to servo-lock the Servomotor.

7 Select Forward or Reverse and start the Servomotor.

The Servomotor will rotate until Stop is selected.

Precautions for Correct Use

The test operation function via USB communications from the CX-Drive cannot be used while
EtherCAT communications are established.

10-3 Trial Operation

10
Communications from the CX-Drive
10-3-2 Test Operation via USB

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 10-9
10 Operation

10-10 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 11

Adjustment Functions
This chapter explains the functions, setting methods, and items to note regarding
various gain adjustments.

11-1 Analog Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

11-1-1 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11-2 Gain Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11-2-1 Purpose of the Gain Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11-2-2 Gain Adjustment Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-5
11-2-3 Gain Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-6
11-3 Realtime Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-7
11-3-1 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11-3-2 Setting Realtime Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-8
11-3-3 Setting Machine Rigidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-9
11-4 Manual Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
11-4-1 Basic Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-15
11-5 Damping Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-23
11-5-1 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-23
11-5-2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-24
11-6 Adaptive Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-26
11-6-1 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-27
11-6-2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-28
11-7 Notch Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-29
11-7-1 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30
11-7-2 Notch Filter Width and Depth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-30
11-8 Disturbance Observer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
11-8-1 Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-32
11-8-2 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
11-8-3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-33
11-9 Friction Torque Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . 11-34
11-9-1 Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-34
11-9-2 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-34
11-9-3 Operation Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-35
11-10 Hybrid Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11-10-1 Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11-10-2 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11-10-3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-36
11-11 Feed-forward Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11-11-1 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11-11-2 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-38
11-12 Instantaneous Speed Observer Function . . . . . . . . . . . . . . . . . . . . . . . . 11-40
11-12-1 Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40
11-12-2 Objects Requiring Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-40
11-12-3 Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 11-1
11 Adjustment Functions

11-1 Analog Monitor

Two types of analog signals can be output from the analog monitor connector on the front panel.
They are used when the monitoring is required for adjustment.
The monitor items to be output and the scaling (output gain) can be set as required for each of the
objects.
The refresh period of the analog monitor is 1 ms. The analog monitor is not synchronized with another
axes in the EtherCAT system.

11-1-1 Objects Requiring Settings

Index Name Explanation Reference

3416 hex Analog Monitor 1 Selection Select the monitoring item for the analog monitor 1. page 9-33

3417 hex Analog Monitor 1 Scale Setting Set the output gain for the analog monitor 1. page 9-33

3418 hex Analog Monitor 2 Selection Select the monitoring item for the analog monitor 2. page 9-34

3419 hex Analog Monitor 2 Scale Setting Set the output gain for the analog monitor 2. page 9-34

3421 hex Analog Monitor Output Setting Select the analog monitor output method. page 9-34

Analog Monitor Objects (3416, 3417, 3418 and 3419 Hex)

The analog monitor scales (3417 hex and 3419 hex) are set in units for 1 V. When the objects are set to
0, the values shown in the table below are automatically set.

3416 hex and Description

3418 hex set Output gain when 3417 hex
value Monitoring item Unit
and 3419 hex are set to 0
0 Feedback Motor Speed r/min 500
1 Internal Command Motor r/min 500
Speed *1
2 Filtered Internal Command r/min 500
Motor Speed *1
3 Motor Control Effort r/min 500
4 Torque demand % 33
5 Position Error *2 pulses (command units) 3,000
6 Pulse Position Error *2 pulses (encoder units) 3,000
7 Fully-closed Error *2 pulses (external encoder unit) 3,000
8 Hybrid Error pulses (command units) 3,000
9 P-N Voltage V 80
10 Regeneration Load Ratio % 33
11 Motor Load Ratio % 33
12 Forward Torque Limit % 33
13 Reverse Torque Limit % 33
14 Speed Limit Value r/min 500
15 Inertia Ratio % 500

11-2 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 11 Adjustment Functions

3416 hex and Description

11-1 Analog Monitor

3418 hex set Output gain when 3417 hex
value Monitoring item Unit
and 3419 hex are set to 0
16 to 18 Reserved − −
19 Encoder Temperature *3 °C 10
20 Servo Drive Temperature °C 10
21 Encoder 1-rotation Data *4 pulses (encoder units) 110,000
11
*1 The Internal Command Motor Speed is the speed before the command input passes through the command
filter (the position command filter time constant and the smoothing filter time constant). The Filtered Internal
Command Motor Speed is the speed after the command input passes through the command filter.

11-1-1 Objects Requiring Settings

Internal Command Filtered Internal Command
Motor Speed [r/min] Motor Speed [r/min]

Command Position +
Electronic Position
input command
gear Control
filter
−

Position actual internal

value [encoder
units/external encoder units]
(Encoder feedback/external
encoder feedback)

*2 The position error is calculated for the command input after processing for the position command filter. The
pulse position error or fully-closed position error is reversely converted to command units for application.
The pulse position error or fully-closed error is the error for the position control input.

Pulse Position Error [encoder units]

Position Error [command units] /Fully-closed Error [external encoder units]

Electronic gear
reverse
conversion

Position +
Command Electronic Position
input command
gear filter − control

Position actual internal value

Position actual value Electronic gear [encoder units/external encoder units]
[command units] reverse
conversion (Encoder feedback/external
encoder feedback)

*3 The encoder temperature is indicated only for a 20-bit incremental encoder. The value is not stable for other
types of encoders.
*4 The direction of monitor data, either forward or reverse, is the direction set in the Rotation Direction Switching
(3000 hex). However, CCW is the forward direction for the absolute encoder 1-rotation data.
A normal value is output from the incremental encoder after the first phase Z.

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 11-3
11 Adjustment Functions

Analog Monitor Output Setting (3421 Hex)

Select the direction for analog monitor output voltage.

These are the output voltage range and the output direction when the Analog Monitor 1 Selection or
Analog Monitor 2 Selection is set to the feedback motor speed, and the Analog Monitor 1 Scale Setting
or the Analog Monitor 2 Scale Setting is set to 0 (i.e., 1V = 500 r/min).

Set value Output range Data output

0 −10 to 10 V
Output voltage [V]
10 V

Feedback
0V Motor Speed
−5000 5000 [r/min]

−10 V
1 0 to 10 V
Output voltage [V]
10 V

Feedback
Motor Speed
−5000 0 V 5000 [r/min]

−10 V
2 0 to 10 V
(5 V as the center) Output voltage [V]
10 V

5V Feedback
Motor Speed
0V 0 2500 [r/min]
−2500

−10 V

11-4 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 11 Adjustment Functions

11-2 Gain Adjustment

11-2 Gain Adjustment

G5-Series Servo Drives provide a realtime autotuning function.
With this function, gain adjustments can be made easily even by those using a servo system for the first
time.
If you cannot obtain the desired responsiveness with autotuning, use manual tuning.
11

11-2-1 Purpose of the Gain Adjustment

11-2-1 Purpose of the Gain Adjustment

The Servo Drive must operate the motor in response to commands from the host system with minimal
time delay and maximum reliability. The gain is adjusted to bring the actual operation of the motor as
close as possible to the operation specified by the commands, and to maximize the performance of the
machine.

Example: Ball screw

[r/min]
Gain setting: Low Gain setting: High Gain setting: High + feed-forward setting
+2000

0
Actual motor speed
Command speed
-2000
0.0 125 250 375 0.0 125 250 375 0.0 125 250 375

Position loop gain: 3.0 Position loop gain: 251.0 Position loop gain: 251.0
Speed loop gain: 2.5 Speed loop gain: 140.0 Speed loop gain: 180.0
Speed loop integral time constant: 190.0 Speed loop integral time constant: 6.0 Speed loop integral time constant: 6.0
Speed feed-forward: 30 Speed feed-forward: 30 Speed feed-forward: 100
Inertia ratio: 300 Inertia ratio: 300 Inertia ratio: 300

11-2-2 Gain Adjustment Methods

Reference
Function Description
page
Automatic Realtime autotuning Realtime autotuning estimates the load inertia of the machine in page 11-7
adjustment realtime and automatically sets the optimal gain according to the
estimated load inertia.
Manual Manual tuning Manual adjustment is performed if autotuning cannot be executed page 11-15
adjustment due to restrictions on the control mode or load conditions or if
ensuring that the maximum responsiveness matches each load is
required.
Basic procedure Position Control/Fully-closed Control Mode adjustment page 11-16

Precautions for Safe Use

• Take sufficient measures to ensure safety.
• If vibration occurs (unusual noise or vibration), immediately turn OFF the power supply or turn
OFF the servo.

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 11-5
11 Adjustment Functions

11-2-3 Gain Adjustment Procedure

Start adjustment.

Automatic
adjustment? No
Yes

Realtime
autotuning settings

Realtime autotuning

Operation OK?
No
Yes (Default setting)

Manual tuning

Operation OK?
No
Yes

Write to EEPROM.

Consult OMRON.
Adjustment completed.

Gain Adjustment and Machine Rigidity

To improve machine rigidity:
• Install the machine on a secure base so that it does not have any play.
• Use couplings that have a high rigidity, and that are designed for servo systems.
• Use a wide timing belt, and use a tension within the range of allowable axial load for the motor.
• Use gears with small backlash.
The specific vibration (resonance frequencies) of the mechanical system has a large impact on the
gain adjustment of the servo. The servo system responsiveness cannot be set high for machines with
a low resonance frequency (low machine rigidity).

11-6 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
 11 Adjustment Functions

11-3 Realtime Autotuning

11-3 Realtime Autotuning
Realtime autotuning estimates the load inertia of the machine in realtime, and operates the machine by
automatically setting the gain according to the estimated load inertia. At the same time, it can lower the
resonance and vibration if the adaptive filter is enabled.
Refer to 11-6 Adaptive Filter on page 11-26 for details about adaptive filters.
Realtime autotuning is enabled for any control to adjust the speed loop PI control. 11
Position/Speed
Torque
command
Position/Speed Friction torque command Current
SM
control compensation control

Load
Estimate load
inertia.
Speed feedback
RE
Position feedback

Precautions for Correct Use

• Realtime autotuning may not function properly under the conditions described in the following
table. In such cases, use manual tuning.

Conditions under which realtime autotuning does not operate properly

Load inertia • If the load inertia is too small or too large compared with the rotor inertia
(less than 3 times, more than 20 times, or more than the applicable load inertia
ratio).
• If the load inertia changes quickly.
Load • If the machine rigidity is extremely low.
• If there is a non-linear element (play), such as a backlash.
Operation • If the speed continues at below 100 r/min.
pattern • If the acceleration/deceleration is below 2,000 r/min in 1 s.
• If the acceleration/deceleration torque is too small compared with the unbalanced
load and the viscous friction torque.
• If either a speed of 100 r/min or higher, or an acceleration/deceleration of
2,000 r/min/s does not last for at least 50 ms.

• With realtime autotuning, each object is fixed to the value in the machine rigidity table at the
time the machine rigidity is set. By estimating the load inertia from the operation pattern, the
operation coefficient for the speed loop gain and the integral time constant are altered. Doing
this for each pattern can cause vibration, so the estimation value is set conservatively.
• The torque feed-forward function cannot be used when realtime autotuning is being used. Set
both the Torque Feed-forward Gain (3112 hex) and Torque Feed-forward Command Filter
(3113 hex) to 0.

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11 Adjustment Functions

11-3-1 Objects Requiring Settings

Index Name Explanation Reference

3002 hex Realtime Autotuning Mode Set the operation mode for the realtime autotuning. page 9-3
Selection
3003 hex Realtime Autotuning Machine Set the responsiveness when the realtime autotuning is page 9-4
Rigidity Setting enabled.
3631 hex Realtime Autotuning Estimated Set the speed to estimate the load characteristic when page 9-50
Speed Selection the realtime autotuning is enabled.
3632 hex Realtime Autotuning Customization Make detailed settings for the autotuning function, when page 9-51
Mode Setting the customized mode (3002 hex = 6) is selected in the
Realtime Autotuning Mode Selection (3002 hex).

11-3-2 Setting Realtime Autotuning

1 When setting realtime autotuning, turn the servo OFF.

2 Set Realtime Autotuning mode Selection (3002 hex) depending on the load.
Normally, set the object to 1 or 2.
Use a setting of 3 or 4 when a vertical axis is used.
A setting of 5 is used in combination with a software tool. Do not use it for normal operation.
Gain switching function is enabled for set values 2 to 4.

Set value Realtime autotuning Description

0 Disabled Realtime autotuning is disabled.
1 Focus on stability No unbalanced load or friction compensation, nor gain
(default setting) switching.
2 Focus on positioning Used for a horizontal axis or others that have no
unbalanced load, or for a ball screw drive with little friction.
3 Vertical axis Used when unbalanced load is present, i.e., with a vertical
axis, etc.
4 Friction compensation and Used when a vertical axis or other unbalanced load is
vertical axis present and when friction is large.
Used for a belt-driving shaft with large friction. Variations
in finalizing the positioning are suppressed.
5 Load characteristic estimation Used only for estimating load characteristics.
6 Customization Detailed customization can be set in the Realtime
Autotuning Customization Mode Setting (3632 hex).

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 11 Adjustment Functions

11-3 Realtime Autotuning

11-3-3 Setting Machine Rigidity

1 Set the Realtime Autotuning Machine Rigidity Setting (3003 hex) according to the table below.
Start from the lower machine rigidity number and check the operation.

Realtime Autotuning
Machine configuration and drive method
Machine Rigidity Setting (3003 hex)
Ball screw direct coupling 12 to 24
11
Ball screw and timing belt 8 to 20

11-3-3 Setting Machine Rigidity

Timing belt 4 to 16
Gears, rack and pinion drive 4 to 16
Other machines with low rigidity 1 to 8
Stacker cranes Perform manual tuning.

2 Turn the servo ON and operate the machine with a normal pattern.
To increase responsiveness, increase the machine rigidity number, and check the response. If
vibration occurs, enable the adaptive filter and operate. If already enabled, lower the machine
rigidity number.

3 If there are no problems with the operation, turn the servo OFF and set the Realtime Autotuning
Mode Selection (3002 hex) to 0 (disabled).
The adaptive filter can be left enabled even if realtime autotuning is disabled after the
completion of adjustments. Even if the adaptive filter is disabled, the settings of notch filters 3
and 4 are held.

Precautions for Correct Use

• After startup, immediately after the first servo ON, or when the Realtime Autotuning Machine
Rigidity Setting (3003 hex) is increased, unusual noise or vibration may occur until the load
inertia is estimated or the adaptive filter stabilizes. This is not an error if it disappears right
away. If the unusual noise or vibration, however, continues for 3 or more reciprocating
operations, take the following measures in any order you can.
• Write the objects used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Setting (3003 hex).
• Manually set the notch filter.
• Once unusual noise or vibration occurs, Inertia Ratio (3004 hex), Torque Command Value
Offset (3607 hex), Forward Direction Torque Offset (3608 hex), and Reverse Direction Torque
Offset (3609 hex) may have changed to an extreme value. In this case, also take the
measures described above.
• Out of the results of realtime autotuning, the Inertia Ratio (3004 hex), Torque Command Value
Offset (3607 hex), Forward Direction Torque Offset (3608 hex) and Reverse Direction Torque
Offset (3609 hex) are automatically saved to the EEPROM every 30 minutes. Realtime
autotuning uses this saved data as the default settings when the power supply is turned ON
again.
• The object is automatically set based on the Realtime Autotuning Machine Rigidity Setting
(3003 hex) if realtime autotuning is enabled.

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11 Adjustment Functions

 Realtime Autotuning (RTAT) Object Table

AT Machine Rigidity Setting (3003 hex)

Index Name
0 1 2 3 4 5 6 7
3004 hex Inertia Ratio Estimated load inertia ratio
3100 hex Position Loop Gain 1 20 25 30 40 45 55 75 95
3101 hex Speed Loop Gain 1 15 20 25 30 35 45 60 75
3102 hex Speed Loop Integral Time 3700 2800 2200 1900 1600 1200 900 700
Constant 1
3103 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 1
3104 hex Torque Command Filter Time 1500 1100 900 800 600 500 400 300
Constant 1*1
3105 hex Position Loop Gain 2 25 30 40 45 55 70 95 120
3106 hex Speed Loop Gain 2 15 20 25 30 35 45 60 75
3107 hex Speed Loop Integral Time 10000 10000 10000 10000 10000 10000 10000 10000
Constant 2*2
3108 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 2
3109 hex Torque Command Filter Time 1500 1100 900 800 600 500 400 300
Constant 2*1
3110 hex Speed Feed-forward Gain 300 300 300 300 300 300 300 300
3111 hex Speed Feed-forward Command 50 50 50 50 50 50 50 50
Filter
3112 hex Torque Feed-forward Gain 0 0 0 0 0 0 0 0
3113 hex Torque Feed-forward Command 0 0 0 0 0 0 0 0
Filter
3114 hex Gain Switching Input Operating 1 1 1 1 1 1 1 1
Mode Selection
3115 hex Switching Mode in Position Control Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
3116 hex Gain Switching Delay Time in 30 30 30 30 30 30 30 30
Position Control
3117 hex Gain Switching Level in Position 50 50 50 50 50 50 50 50
Control
3118 hex Gain Switching Hysteresis in 33 33 33 33 33 33 33 33
Position Control
3119 hex Position Gain Switching Time 33 33 33 33 33 33 33 33
3607 hex Torque Command Value Offset Estimated torque command additional value
3608 hex Forward Direction Torque Offset Estimated positive torque compensation value
3609 hex Reverse Direction Torque Offset Estimated negative torque compensation value
3610 hex.0, Function Expansion Setting 0 0 0 0 0 0 0 0
3610 hex.1
3623 hex Disturbance Torque Compensation 0 0 0 0 0 0 0 0
Gain
3624 hex Disturbance Observer Filter 0 0 0 0 0 0 0 0
Setting

*1 This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.

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 11 Adjustment Functions

11-3 Realtime Autotuning

*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the
value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value off-
set, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load
characteristic estimation is completed.

AT Machine Rigidity Setting (3003 hex)

Index Name
8 9 10 11 12 13 14 15
3004 hex Inertia Ratio Estimated load inertia ratio
11
3100 hex Position Loop Gain 1 115 140 175 320 390 480 630 720
3101 hex Speed Loop Gain 1 90 110 140 180 220 270 350 400

11-3-3 Setting Machine Rigidity

3102 hex Speed Loop Integral Time 600 500 400 310 250 210 160 140
Constant 1
3103 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 1
3104 hex Torque Command Filter Time 300 200 200 126 103 84 65 57
Constant 1*1
3105 hex Position Loop Gain 2 140 175 220 380 460 570 730 840
3106 hex Speed Loop Gain 2 90 110 140 180 220 270 350 400
3107 hex Speed Loop Integral Time 10000 10000 10000 10000 10000 10000 10000 10000
Constant 2*2
3108 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 2
3109 hex Torque Command Filter Time 300 200 200 126 103 84 65 57
Constant 2*1
3110 hex Speed Feed-forward Gain 300 300 300 300 300 300 300 300
3111 hex Speed Feed-forward Command 50 50 50 50 50 50 50 50
Filter
3112 hex Torque Feed-forward Gain 0 0 0 0 0 0 0 0
3113 hex Torque Feed-forward Command 0 0 0 0 0 0 0 0
Filter
3114 hex Gain Switching Input Operating 1 1 1 1 1 1 1 1
Mode Selection
3115 hex Switching Mode in Position Control Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
3116 hex Gain Switching Delay Time in 30 30 30 30 30 30 30 30
Position Control
3117 hex Gain Switching Level in Position 50 50 50 50 50 50 50 50
Control
3118 hex Gain Switching Hysteresis in 33 33 33 33 33 33 33 33
Position Control
3119 hex Position Gain Switching Time 33 33 33 33 33 33 33 33
3607 hex Torque Command Value Offset Estimated torque command additional value
3608 hex Forward Direction Torque Offset Estimated positive torque compensation value
3609 hex Reverse Direction Torque Offset Estimated negative torque compensation value
3610 hex.0, Function Expansion Setting 0 0 0 0 0 0 0 0
3610 hex.1
3623 hex Disturbance Torque Compensation 0 0 0 0 0 0 0 0
Gain
3624 hex Disturbance Observer Filter 0 0 0 0 0 0 0 0
Setting

*1 This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.

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11 Adjustment Functions

*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the
value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value off-
set, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load
characteristic estimation is completed.

AT Machine Rigidity Setting (3003 hex)

Index Name
16 17 18 19 20 21 22 23
3004 hex Inertia Ratio Estimated load inertia ratio
3100 hex Position Loop Gain 1 900 1080 1350 1620 2060 2510 3050 3770
3101 hex Speed Loop Gain 1 500 600 750 900 1150 1400 1700 2100
3102 hex Speed Loop Integral Time 120 110 90 80 70 60 50 40
Constant 1
3103 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 1
3104 hex Torque Command Filter Time 45 38 30 25 20 16 13 11
Constant 1*1
3105 hex Position Loop Gain 2 1050 1260 1570 1880 2410 2930 3560 4400
3106 hex Speed Loop Gain 2 500 600 750 900 1150 1400 1700 2100
3107 hex Speed Loop Integral Time 10000 10000 10000 10000 10000 10000 10000 10000
Constant 2*2
3108 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 2
3109 hex Torque Command Filter Time 45 38 30 25 20 16 13 11
Constant 2*1
3110 hex Speed Feed-forward Gain 300 300 300 300 300 300 300 300
3111 hex Speed Feed-forward Command 50 50 50 50 50 50 50 50
Filter
3112 hex Torque Feed-forward Gain 0 0 0 0 0 0 0 0
3113 hex Torque Feed-forward Command 0 0 0 0 0 0 0 0
Filter
3114 hex Gain Switching Input Operating 1 1 1 1 1 1 1 1
Mode Selection
3115 hex Switching mode in Position Control Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
3116 hex Gain Switching Delay Time in 30 30 30 30 30 30 30 30
Position Control
3117 hex Gain Switching Level in Position 50 50 50 50 50 50 50 50
Control
3118 hex Gain Switching Hysteresis in 33 33 33 33 33 33 33 33
Position Control
3119 hex Position Gain Switching Time 33 33 33 33 33 33 33 33
3607 hex Torque Command Value Offset Estimated torque command additional value
3608 hex Forward Direction Torque Offset Estimated positive torque compensation value
3609 hex Reverse Direction Torque Offset Estimated negative torque compensation value
3610 hex.0, Function Expansion Setting 0 0 0 0 0 0 0 0
3610 hex.1
3623 hex Disturbance Torque Compensation 0 0 0 0 0 0 0 0
Gain
3624 hex Disturbance Observer Filter 0 0 0 0 0 0 0 0
Setting

*1 This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.

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 11 Adjustment Functions

11-3 Realtime Autotuning

*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the
value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value off-
set, and forward/reverse direction torque offset) is completed. The value will change to 10000 after the load
characteristic estimation is completed.

AT Machine Rigidity Setting (3003 hex)

Index Name
24 25 26 27 28 29 30 31
3004 hex Inertia Ratio Estimated load inertia ratio
11
3100 hex Position Loop Gain 1 4490 5000 5600 6100 6600 7200 8100 9000
3101 hex Speed Loop Gain 1 2500 2800 3100 3400 3700 4000 4500 5000

11-3-3 Setting Machine Rigidity

3102 hex Speed Loop Integral Time 40 35 30 30 25 25 20 20
Constant 1
3103 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 1
3104 hex Torque Command Filter Time 9 8 7 7 6 6 5 5
Constant 1*1
3105 hex Position Loop Gain 2 5240 5900 6500 7100 7700 8400 9400 10500
3106 hex Speed Loop Gain 2 2500 2800 3100 3400 3700 4000 4500 5000
3107 hex Speed Loop Integral Time 10000 10000 10000 10000 10000 10000 10000 10000
Constant 2*2
3108 hex Speed Feedback Filter Time 0 0 0 0 0 0 0 0
Constant 2
3109 hex Torque Command Filter Time 9 8 7 7 6 6 5 5
Constant 2*1
3110 hex Speed Feed-forward Gain 300 300 300 300 300 300 300 300
3111 hex Speed Feed-forward Command 50 50 50 50 50 50 50 50
Filter
3112 hex Torque Feed-forward Gain 0 0 0 0 0 0 0 0
3113 hex Torque Feed-forward Command 0 0 0 0 0 0 0 0
Filter
3114 hex Gain Switching Input Operating 1 1 1 1 1 1 1 1
Mode Selection
3115 hex Switching mode in Position Control Gain Switching Enable Mode: 10
Gain Switching Disable Mode: 0
3116 hex Gain Switching Delay Time in 30 30 30 30 30 30 30 30
Position Control
3117 hex Gain Switching Level in Position 50 50 50 50 50 50 50 50
Control
3118 hex Gain Switching Hysteresis in 33 33 33 33 33 33 33 33
Position Control
3119 hex Position Gain Switching Time 33 33 33 33 33 33 33 33
3607 hex Torque Command Value Offset Estimated torque command additional value
3608 hex Forward Direction Torque Offset Estimated positive torque compensation value
3609 hex Reverse Direction Torque Offset Estimated negative torque compensation value
3610 hex.0, Function Expansion Setting 0 0 0 0 0 0 0 0
3610 hex.1
3623 hex Disturbance Torque Compensation 0 0 0 0 0 0 0 0
Gain
3624 hex Disturbance Observer Filter 0 0 0 0 0 0 0 0
Setting

*1 This is limited to a minimum value of 10 if a 17-bit absolute encoder is used.

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11 Adjustment Functions

*2 If realtime autotuning is performed in vertical axis mode or friction compensation and vertical axis mode, the
value will be 9999 until load characteristic estimation (estimation of the inertia ratio, torque command value off-
set, and forward/reverse direction torque offset) is completed. The value will change to 10000 after estimation
of the load characteristics is completed.

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 11 Adjustment Functions

11-4 Manual Tuning

11-4 Manual Tuning

As described before, the G5-series have a realtime autotuning function. Readjustment, however, is
required if realtime autotuning cannot adjust the gain properly for same reasons: there is a restriction by
load conditions, or a necessity to ensue optimum responsiveness and stability for each load.
This section describes how to perform manual tuning.
11
11-4-1 Basic Settings

11-4-1 Basic Settings

Before Manual Setting
More reliable adjustment can be performed quickly by using waveform monitoring with the data tracing
function of the CX-Drive or by measuring the analog voltage waveform with the monitor function.

 Analog Monitor Output

The feedback motor speed, internal command motor speed, command torque, and position error
can be measured as an analog voltage level using an oscilloscope or other device. The type of
signal to output and the output voltage level are set with Analog Monitor 1 Selection (3416 hex)
and Analog Monitor 2 Selection (3418 hex) settings. For details, refer to 11-1 Analog Monitor on
page 11-2.

 CX-Drive Data Tracing Function

Commands to the motor and motor operation (speed, command torque, and position error) can be
displayed on a computer as waveforms. Refer to the CX-Drive Operation Manual (Cat. No. W453).

USB communications cable

Connect to CN7.

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11 Adjustment Functions

Position Control/Fully-closed Control Mode Adjustment

Use the following procedure to perform the adjustment in position control for the Servo Drive.
Start adjustment.
Never adjust or set parameters to extreme values,
as it will make the operation unstable.
Disable realtime autotuning (3002 hex = 0).
Failure to follow this guideline may result in injury.
Gradually change the value to adjust the
Set each parameter according to the parameter settings for different applications. gain while checking the motor operation.

Operate based on the normal operation pattern and load.

Are the positioning time and other performances satisfied?

Yes
No
Adjustment completed.

Increase Speed Loop Gain 1 (3101 hex) to the extent

that hunting does not occur upon servo lock.

Decrease Speed Loop Integral Time Constant 1 (3102 hex)

to the extent that hunting does not occur upon servo lock.

Does hunting or vibration occur when the motor rotates?

Yes
No
Decrease Speed Loop Gain 1 (3101 hex).
Increase position loop gain to the extent
that overshooting does not occur. Increase Speed Loop Integral Time
Constant 1 (3102 hex).
Write to the EEPROM in the Parameter Write mode.

Adjustment completed.
If vibration persists after repeated adjustments
or the positioning is slow:
Increase Torque Command Filter Time
Constant 1 (3104 hex).

Set the damping frequencies in the

Notch 1 Frequency Setting (3201 hex),
Notch 2 Frequency Setting (3204 hex),
Notch 3 Frequency Setting (3207 hex), and
Notch 4 Frequency Setting (3210 hex).

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 11 Adjustment Functions

11-4 Manual Tuning

Speed Control Mode Adjustment
Adjustments in speed control for the G5 Series are very similar to Position Control Mode adjustment.
Use the following procedure to perform the adjustment.

Start adjustment. Never adjust or set parameters to extreme values,

because it will make the operation unstable.
Set the realtime autotuning to disabled (3002 hex = 0) Failure to follow this guideline may result in injury.
Gradually change the value to adjust the 11
gain while checking the motor operation.
Set each parameter according to the parameter settings for different applications.

11-4-1 Basic Settings

Operate based on the normal operation pattern and load.

Are the speed responsiveness and other performances satisfied?

Yes
No
Adjustment completed.

Increase Speed Loop Gain (3101 hex) to the extent

that hunting does not occur upon servo lock.

Decrease Speed Loop Integral Time Constant (3102 hex) to the

extent that hunting does not occur upon servo lock.

Does hunting or vibration occur when the motor rotates?

Yes
No
Decrease Speed Loop Gain (3101 hex).
Write to the EEPROM in the Parameter Write Mode.
Increase Speed Loop Integral Time
Constant (3102 hex).
Adjustment completed.

If vibration persists after repeated adjustments

or the positioning is slow:
Increase Torque Command Filter Time
Constant (3104 hex).

Set the damping frequency in the

Notch 1 Frequency Setting (3201 hex),
Notch 2 Frequency Setting (3204 hex),
Notch 3 Frequency Setting (3207 hex) or
Notch 4 Frequency Setting (3210 hex).

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11 Adjustment Functions

Servo Manual Tuning Method

The following 4 parameters are the basic servo adjustment parameters.
If desired operation characteristics are obtained by adjusting the following 4 parameters, the
adjustments of other parameters are not necessary.

Parameter number Parameter name Default setting Parameter number 2

3100 hex Position Loop Gain 48.0 [1/s] 3105 hex
3101 hex Speed Loop Gain 27.0 Hz 3106 hex
3102 hex Speed Loop Integral Time Constant 21.0 ms 3107 hex
3104 hex Torque Command Filter Time 0.84 ms 3109 hex
Constant

Adjustment of Each Parameter

The control loop for the servo consists of, from the outside, a position loop, speed loop and current
loop.
The inner loop is affected by the outer loop, and the outer loop is affected by the inner loop.
What determines the default setting includes the structure and the rigidity of the machine, and the
inertia ratio.
Guide of each parameter for different applications is as follows.

 Parameter Settings for Different Applications

Position Speed Speed loop Torque command

Application name Inertia Rigidity loop gain loop gain integral time filter time constant
[1/s] [Hz] constant [x 0.01 ms]
Ball screw horizontal Large Low 20 140 35 160
Ball screw horizontal Medium Medium 40 80 20 100
Ball screw horizontal Small High 80 60 15 80
Ball screw vertical Large Low 20 160 45 160
Ball screw vertical Medium Medium 40 80 30 120
Ball screw vertical Small High 60 60 20 100
Ball screw nut rotation horizontal Large Low 20 140 40 160
Ball screw nut rotation horizontal Medium Medium 40 100 30 120
Ball screw nut rotation vertical Large Low 20 160 45 160
Ball screw nut rotation vertical Medium Medium 40 120 25 120
Timing belt Large Low 20 160 60 160
Timing belt Medium Medium 30 120 40 120
Rack and pinion drives Large Low 20 160 60 160
Rack and pinion drives Large Medium 30 120 40 120
Rack and pinion drives Medium Medium 40 100 20 100
Index table Large Medium 40 120 25 120
Index table Small High 80 120 20 100
Robot arm cylinder Large Low 15 160 60 160
Robot arm cylinder Medium Medium 25 120 40 120
Other general-purpose Medium Medium 30 100 30 150

Note Inertia Ratio (3004h) is when fixed at 300%.

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 11 Adjustment Functions

Inertia guide

11-4 Manual Tuning

The inertia is small. 5 times the rotor inertia max.
The inertia is medium. 5 to 10 times the rotor inertia max.
The inertia is large. 10 to 20 times the rotor inertia max.

 3100 hex and 3105 hex Position Loop Gain 11

This loop controls the number of pulses from encoder to be the designated number of pulses.
This is called an error counter, and when the pulse is equal to or lower than the specified value,

11-4-1 Basic Settings

positioning is completed and the signal is output.
The ratio of maximum speed used and error counter is called a position loop gain.

Command maximum speed [pps]

Position loop gain [1/s] =
Error counter accumulated pulse (P)

For the position loop gain, use the inverse of Speed Loop Integral Time Constant (3102 hex) as a
guide for setting. Setting 3102 hex to 100 ms results in 10 [1/s].
There will be no overshooting under this condition. To quicken positioning, increase the value of
position loop gain. If the value is too large, overshooting or vibration will occur. In such cases, set
the value smaller.
If the speed loop or the current loop is vibrating, adjusting the position loop does not eliminate the
vibration.
Response to the position loop gain adjustment is illustrated below.

• If the position loop gain is high, an overshooting occurs.

Command operation pattern

Actual operation
Speed
(r/min)

Time t

• If the position loop gain is low, positioning completion speed becomes slow.

Command operation pattern

Actual operation
Speed
(r/min)

Time t

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11 Adjustment Functions

 3101 hex and 3106 hex Speed Loop Gain

The speed loop gain determines the responsiveness of the servo.
This value becomes the response frequency if the Inertia Ratio (3004 hex) is set correctly.
Increasing the value of the speed loop gain improves the responsiveness and quickens positioning,
but vibration is more likely to occur. Adjustment must be made so vibration will not occur.
This is related to Speed Loop Integral Time Constant (3102 hex), and by increasing the integral time
constant, the speed loop gain value can be increased.

• If the speed loop gain is low, the speed response becomes slow and a large overshooting occurs.
In such case, increase the speed loop gain.

Command operation pattern

Speed Actual operation

(r/min)

Time t

• If the speed loop gain is high, vibrations are more likely to occur. Vibration or resonance may not
disappear.
In such case, decrease the speed loop gain.

Command operation pattern

Speed
(r/min)
Actual operation

Time t

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 11 Adjustment Functions

 3102 hex and 3107 hex Speed Loop Integral Time Constant

11-4 Manual Tuning

The speed loop integral time constant also determines the responsiveness of the servo.

• If the speed loop integral time constant is low, vibration or resonance occurs.
In such case, increase the speed loop integral time constant.

Command operation pattern

11
Speed

11-4-1 Basic Settings

(r/min)
Actual operation

Time t

• If the speed loop integral time constant is high, the response is delayed. The servo rigidity
becomes weak.
In such case, decrease the speed loop integral time constant.

Command operation pattern

Speed
(r/min) Actual operation

Time t

 3104 hex and 3109 hex Torque Command Filter Time Constant (Current Loop
Input Adjustment)
The torque command filter applies a filter so the current command from the speed loop becomes
smooth. The result is a smooth current flow which suppresses vibration.
The default setting of the filter time constant is 84 (0.84 ms).
Increase the value to reduce vibration. Increasing the value slows the response.
As a guide, aim for about 1/25 of the Speed Loop Integral Time Constant (3102 hex).
Also, the torque command filter reduces vibration due to the machine rigidity.
This is related to Speed Loop Gain (3101 hex), and if 3101 hex is too large, increasing the torque
command filter time constant does not reduce vibration.
If there is machine resonance such as with the ball screw, vibration is reduced by using notch filters
such as 3201 hex, 3204 hex, 3207 hex and 3210 hex. Or, enable the adaptive filter.

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11 Adjustment Functions

 Other Adjustments
If the torque loop is saturated because the acceleration time is short or the load torque is large, an
overshooting occurs for the speed response. In such case, increase the acceleration time to prevent
the torque from saturating.

Command operation pattern

Overshooting occurs
Acceleration torque required to by the delay from
accelerate according to the command.
the command pattern

Momentary maximum torque at

which motor output is possible

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 11 Adjustment Functions

11-5 Damping Control

11-5 Damping Control

If the tip of the mechanical unit vibrates, you can use the damping control function to reduce vibration.
This is effective on vibration generated by a machine of low rigidity. The applicable frequencies are
from 1 to 200 Hz.
You can set four frequencies, and use two of them at the same time.
11
The end
vibrates.
Position Controller Servo Drive
The damping
frequency changes
based on the position.

Movement

11-5-1 Objects Requiring Settings

Index Name Description Reference

3213 hex Damping Filter Selection Select the Damping Filter Switching Mode according to page 9-23
the condition of the unit.
0: Up to two filters can be used simultaneously.
3: Switching with command direction.
3214 hex Damping Frequency 1 Set damping frequency 1 to suppress vibration at the page 9-23
end of the load in damping control.
If the damping control function is not used, set the
damping frequency to a value between 0 and 0.9 [Hz].
3215 hex Damping Filter 1 Setting When Damping Frequency 1 (3214 hex) is set, reduce page 9-23
this setting if torque saturation occurs or increase this
setting to increase operation speed. Normally 0 is set.
If damping filter 1 is disabled, this object is also disabled.
3216 hex Damping Frequency 2 The function is the same with 3214 hex. page 9-23
3217 hex Damping Filter 2 Setting The function is the same with 3215 hex. page 9-24
3218 hex Damping Frequency 3 The function is the same with 3214 hex. page 9-24
3219 hex Damping Filter 3 Setting The function is the same with 3215 hex. page 9-24
3220 hex Damping Frequency 4 The function is the same with 3214 hex. page 9-24
3221 hex Damping Filter 4 Setting The function is the same with 3215 hex. page 9-24

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11 Adjustment Functions

Precautions for Correct Use

• Stop operation before changing the objects or switching with DFSEL.
• Damping control may not function properly or the effect may not be apparent under the
following conditions.

Item Conditions under which the effect of damping control is inhibited

Load condition • If forces other than position commands, such as external forces, cause vibration.
• If the damping frequency is outside the range of 1.0 to 200 Hz.
• If the ratio of the resonance frequency to anti-resonance frequency is large.

11-5-2 Operating Procedure

1 Adjust the position loop gain and speed loop gain.

Adjust Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), Speed Loop Integral
Time Constant 1 (3102 hex), and Torque Command Filter Time Constant 1 (3104 hex).
If no problem occurs in realtime autotuning, you can continue to use the settings.

2 Measure the damping frequency at the tip of the mechanical unit.

Measure the damping frequency by using a measurement device such as a laser displacement
sensor, servo acceleration meter, or acceleration pick-up.
Set the measured damping frequency in one of Damping Frequency 1 to Damping Frequency 4
(1: 3214 hex, 2: 3216 hex, 3: 3218 hex, 4: 3220 hex) according to the operation.
Also set the Switching Mode using Damping Filter Selection (3213 hex).
If the measurement device cannot be used, use CX-Drive tracing function, and read the residual
damping frequency (Hz) from the position error waveform as shown in the following figure.

• The damping frequency in the figure is calculated with

Command Position error
the following formula:
speed
Calculate the
damping frequency. 1
f (Hz) =
T (s)
Since the object unit is 0.1 Hz:
(3214 hex, 3216 hex, 3218 hex, 3220 hex) = 10 × f
• Application example
Damping cycle T If the damping cycle is 100 ms or 20 ms, set 100 or 500
in the object so that the damping frequency becomes
10 Hz or 50 Hz.
If vibration persists after setting the frequency, increase or decrease the resonance frequency to
find a proper one with minimum vibration.

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 11 Adjustment Functions

11-5 Damping Control

3 Make the damping filter settings.
Make damping filter settings (1: 3215 hex, 2: 3217 hex, 3: 3219 hex, 4: 3221 hex).
First, set the filter to 0 and check the torque waveform during operation.
The stabilization time can be reduced by setting a large value; however, torque ripple will
increase at the command change point as shown in the following figure. Set a range that will not
cause torque saturation under actual operation conditions. The effects of vibration suppression
will be lost if torque saturation occurs.
11
Damping filter Damping filter setting is too large.
setting is appropriate.
Torque saturation

11-5-2 Operating Procedure

Torque command

When setting the damping frequencies, reduce the setting if the torque become saturated and
increase the setting to make operation faster. Normally 0 is set.
The setting range is as follows:

Damping filter setting range: Damping filter setting ≤ Damping frequency

100 ≤ (Damping frequency + Damping filter setting)

4 Set the Damping Filter Selection (3213 hex).

Damping filters 1 to 4 can be switched according to the conditions of the machine vibration.

Set value Switching mode

0 Up to two filters, Damping Filter 1 and Damping Filter 2, can be used simultaneously.
1, 2 For use by manufacturer. Do not use this setting.
3 Switching with command direction
Forward: Damping filter 1 and 3 enabled
Reverse: Damping filter 2 and 4 enabled

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11 Adjustment Functions

11-6 Adaptive Filter

The adaptive filter reduces resonance point vibration by estimating the resonance frequency from the
vibration component that appears in the motor speed during actual operation and automatically sets the
frequency of the notch filter, which removes the resonance component from the torque command.
The automatically set notch filter frequency is set in Notch 3 (3207 to 3209 hex) or Notch 4 (3210 to
3212 hex). Refer to 11-7 Notch Filters on page 11-29 for information on notch filter.

After vibration
Motor speed suppression

Adaptive filter effect

Adaptive filter disabled
Filter frequency setting completed

Position and
speed command
Position/ Adaptive Torque command Current loop
SM
speed control filter control

Resonance frequency
estimation
Speed feedback
Load inertia estimation RE
Realtime autotuning

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 11 Adjustment Functions

11-6-1 Objects Requiring Settings

11-6 Adaptive Filter

Index Name Description Reference
3200 hex Adaptive Filter Selection Set the number of resonance frequencies to be estimated by page 9-20
the adaptive filter and the operation to be performed after
estimation.
0: Adaptive filter disabled.
1: One adaptive filter enabled. The objects related to notch 11
filter 3 are automatically updated.
2: Two adaptive filters enabled. The objects related to notch

11-6-1 Objects Requiring Settings

filters 3 and 4 are automatically updated.
3: For use by manufacturer. Do not use this setting.
4: Adaptive result is cleared.
Objects related to notch filters 3 and 4 are disabled and the
adaptive result is cleared.

Precautions for Correct Use

• Adaptive filter may not operate correctly under the following conditions.

Item Conditions that interfere with the adaptive filter

Resonance • If the resonance frequency is 300 Hz or lower.
points • If the resonance peak or control gain is too low to affect the motor speed.
• If there are three or more resonance points.
Load • If the motor speed with high-frequency components changes due to backlash or
other non-linear elements.
Command • If the acceleration/deceleration is 3,000 r/min/s or higher.
pattern

• If the adaptive filter does not operate properly, use Notch 1 (3201 to 3203 hex) or Notch 2
(3204 to 3206 hex) to reduce resonance according to the manual adjustment procedure.
Refer to 11-7 Notch Filters on page 11-29 for information on notch filter.

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11 Adjustment Functions

11-6-2 Operating Procedure

1 Set the Adaptive Filter Selection (3200 hex).

Select adaptive filter 1 or 2 in the Adaptive Filter Selection (3200 hex).

2 Start actual operation.

Enter an operation command and start the actual operation.

3 The Notch Filters 3 and 4 are automatically set.

When the influence of a resonance point appears in the motor speed, the Notch Filters 3 and 4
objects are set automatically according to the number of adaptive filters.

Precautions for Correct Use

• An unusual noise or vibration may occur until the adaptive filter stabilizes after startup,
immediately after the first servo ON, or when the Realtime Autotuning Machine Rigidity
Selection (3003 hex) is increased. This is not a problem if it disappears right away. If the
vibration or unusual noise, however, continues for three or more reciprocating operations, take
the following measures in the possible order.
• Write the objects used during normal operation to the EEPROM.
• Lower the Realtime Autotuning Machine Rigidity Setting (3003 hex).
• Disable the adaptive filter by setting the Adaptive Filter Selection (3200 hex) to 0.
(Resetting of inertial estimation and adaptive operation)
• Manually set the notch filter.
• If unusual noise or vibration occurs, the setting of Notch 3 (3207 to 3209 hex) or Notch 4 (3210
to 3212 hex) may have changed to an extreme value. In this case, set Adaptive Filter
Selection (3200 hex) to 0 to disable the object and then set the Notch 3 Frequency Setting
(3207 hex) and Notch 4 Frequency Setting (3210 hex) to 5,000 (disabled). Next, enable
Adaptive Filter Selection again.
• The Notch 3 Frequency Setting (3207 hex) and Notch 4 Frequency Setting (3210 hex) are
written to the EEPROM every 30 minutes. When the power supply is turned OFF and then
turned ON again, this data is used as the default settings to perform adaptive operation.

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 11 Adjustment Functions

11-7 Notch Filters

11-7 Notch Filters

When the machine rigidity is low, axis torsion may produce resonance which results in vibration and
noise. Thus you may not be able to set a high gain. The notch filter can restrict the resonance peak,
and allows a high gain setting and vibration reduction.

The G5-series Servo Drives provide four notch filters that can be used for adjusting frequency, width 11
and depth. If a ball screw or other controlled device causes resonance at a specific location, you can
set the resonance frequency using a notch filter to eliminate resonance.

11-6-2 Operating Procedure

A notch filter is used to eliminate a specified frequency component.

fw
Width fw

0db

-3db

Depth=Fc/fw

Frequency Hz
Cut-off frequency Fc

If machine resonance occurs, use this notch filter to eliminate resonance.

Machine resonance

Characteristics
Notch filter after filtering

Notch filter 1 Notch filter 2

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 11 Adjustment Functions

11-7-1 Objects Requiring Settings

Index Name Description Reference

3201 hex Notch 1 Frequency Setting Set the center frequency of notch filter 1. page 9-20
The notch filter is enabled at 50 to 4,999 Hz, and disabled if
5,000 Hz is set.
3202 hex Notch 1 Width Setting Select the width of the notch filter 1 frequency. page 9-20
Increasing the value widens the notch width.
(Setting range: 0 to 20)
3203 hex Notch 1 Depth Setting Select the depth of the notch filter 1 center frequency. page 9-20
Increasing the value decreases the notch depth and thereby
reduces the phase delay. The notch filter is disabled if 100 is
set.
(Setting range: 0 to 99)
3204 hex Notch 2 Frequency Setting Set the center frequency of the notch filter 2. page 9-21
The details are the same with the notch filter 1 frequency.
3205 hex Notch 2 Width Setting Select the width of the notch filter 2 frequency. page 9-21
The details are the same with the notch filter 1 width.
3206 hex Notch 2 Depth Setting Select the depth of the notch filter 2 center frequency. page 9-21
The details are the same with the notch filter 1 depth.
3207 hex Notch 3 Frequency Setting *1 Set the center frequency of the notch filter 3. page 9-21
The details are the same with the notch filter 1 frequency.
3208 hex Notch 3 Width Setting *1 Select the width of the notch filter 3 frequency. page 9-21
The details are the same with the notch filter 1 width.
3209 hex Notch 3 Depth Setting *1 Select the depth of the notch filter 3 center frequency. page 9-22
The details are the same with the notch filter 1 depth.
3210 hex Notch 4 Frequency Setting *1 Set the center frequency of the notch filter 4. page 9-22
The details are the same with the notch filter 1 frequency.
3211 hex Notch 4 Width Setting *2 Select the width of the notch filter 4 frequency. page 9-22
The details are the same with the notch filter 1 width.
3212 hex Notch 4 Depth Setting *2 Select the depth of the notch filter 4 center frequency. page 9-22
The details are the same with the notch filter 1 depth.

*1 If an adaptive filter is used, these objects are set automatically.

*2 These objects are set automatically when two adaptive filters are enabled.

Precautions for Correct Use

• Identify the resonance frequency using the FFT analysis function or operation waveform of the
waveform graphics function of CX-Drive and set the identified frequency as the notch filter
frequency.

11-7-2 Notch Filter Width and Depth

Width Setting
This is the ratio of the frequency bandwidth at a damping factor of -3 [dB] relative to the center
frequency when the depth is 0. This value should conform to the left column in the table below.

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 11 Adjustment Functions

Depth Setting

11-7 Notch Filters

This is the I/O ratio at which the center frequency input is completely cut off at a set value of 0 and
completely passed at a set value of 100. If the indication unit is [dB], this value should conform to the
right column in the table below.

Width Depth
Bandwidth/center
Set value
frequency
Set value I/O ratio (%) Damping factor (dB) 11
0 0.50 0 0 (Cut off) −∞
1 0.59 1 1 −40.0

11-7-2 Notch Filter Width and Depth

2 0.71 2 2 −34.0
3 0.84 3 3 −30.5
4 1.00 4 4 −28.0
5 1.19 5 5 −26.0
6 1.41 10 10 −20.0
7 1.68 15 15 −16.5
8 2.00 20 20 −14.0
9 2.38 25 25 −12.0
10 2.83 30 30 −10.5
11 3.36 35 35 −9.1
12 4.00 40 40 −8.0
13 4.76 45 45 −6.9
14 5.66 50 50 −6.0
15 6.73 60 60 −4.4
16 8.00 70 70 −3.1
17 9.51 80 80 −1.9
18 11.31 90 90 −0.9
19 13.45 100 100 (Passed) 0.0
20 16.00

Notch filter frequency characteristics

10

0
-3[dB]
-5
Gain [dB]

Depth 0, width 4
-10 Depth 50, width 4
Depth 0, width 8
-15

-20

-25

-30
10 100 1 000
Frequency [Hz]

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11 Adjustment Functions

11-8 Disturbance Observer Function

You can lower the effect of the disturbance torque and reduce vibration by using the estimated
disturbance torque value.
Disturbance torque

−
Internal torque command + +
Motor+load
Add to the +
direction that Torque command Feedback
negates the Motor Speed
disturbance
+ −
Load model
Gain
Setting with Set with 3624 hex
Filter
3623 hex

Disturbance observer

Disturbance torque
Estimation value

11-8-1 Operating Conditions

You can use the disturbance observer in the following situations.

Conditions
Operating mode Position control (semi-closed control), speed control
Others • When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly
and there is no trouble with the motor's normal rotation.
• When realtime autotuning function is disabled (3002 hex = 0).
• When instantaneous speed observer function is disabled (3610 hex bit 0 = 0).

Precautions for Correct Use

• If there is a resonance point below the cut-off frequency estimated by the disturbance
observer or if a large amount of high-frequency elements is found in the disturbance torque,
the disturbance observer may not be effective.

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 11 Adjustment Functions

11-8 Disturbance Observer

11-8-2 Objects Requiring Settings

Index Name Description Reference

Function
3610 hex Function Expansion Settings Set the bits related to the disturbance observer. page 9-48
3623 hex Disturbance Torque Compensation Set the compensation gain for disturbance torque. page 9-50
Gain
3624 hex Disturbance Observer Filter Setting Set the filter time constant for disturbance torque
compensation.
page 9-50 11

11-8-2 Objects Requiring Settings

11-8-3 Operating Procedure

1 Set the Function Expansion Setting (3610 hex).

Set whether to enable or disable the disturbance observer in bit 1.
0: Disabled
1: Enabled
Set the operating conditions for enabling the function in bit 2.
0: Enabled at all time
1: Enabled only when gain 1 is selected

2 Set the Disturbance Observer Filter Setting (3624 hex).

Set a small value for the Disturbance Torque Compensation Gain (3623 hex). Change the value
in the Disturbance Observer Filter Setting (3624 hex) from a large value gradually to a smaller
one. The smaller the value set of the Disturbance Observer Filter Setting (3624 hex) is, the
lesser disturbance torque lag can be estimated, and the more effective control over the
disturbance influence can be obtained. But the smaller the value is, the larger the operation
noise can be. You must consider the balance of these advantage and disadvantage to set a
value.

3 Set the Disturbance Torque Compensation Gain (3623 hex).

After you set the Disturbance Observer Filter Setting (3624 hex), increase the value of the
Disturbance Torque Compensation Gain (3623 hex) from a small value to a large value. The
larger the value set on the Disturbance Torque Compensation Gain (3623 hex) is, the more
effective control over the disturbance influence can be obtained. But the larger the value is, the
larger the operation noise will be. Set this object in combination with the Disturbance Observer
Filter Setting (3624 hex) to achieve balanced settings.

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11 Adjustment Functions

11-9 Friction Torque Compensation Function

Two types of friction torque compensations can be set to reduce the influence of mechanical frictions.
One is the unbalanced load compensation that offsets the constantly applied unbalance torque. The
other is the dynamic friction compensation that changes the offset direction in accordance with the
operating direction.

11-9-1 Operating Conditions

You can use the function under the following conditions:

Conditions
• When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly and there is no trouble
with the motor's normal rotation.

11-9-2 Objects Requiring Settings

The torque compensation function needs the combined settings of following three objects.

Index Name Description Reference

3607 hex Torque Command Value Set the unbalanced load compensation value that is always page 9-47
Offset added to the internal torque command in the control mode
other than torque control.
3608 hex Forward Direction Torque Set the dynamic friction compensation value that is added to page 9-47
Offset the internal torque command when a forward position
command is input for position control or fully-closed control.
3609 hex Reverse Direction Torque Set the dynamic friction compensation value that is added to page 9-47
Offset the internal torque command when a reverse position
command is input for position control or fully-closed control.

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 11 Adjustment Functions

Compensation Function
11-9 Friction Torque
11-9-3 Operation Example
The friction torque compensation is applied in the input direction of the position command as shown in
the drawing below.

Command speed Forward

3608 hex (Forward Direction

3607 hex
Torque Offset) 3609 hex
11
(Torque command (Reverse Direction
value offset) Torque Offset)

11-9-3 Operation Example

Time

Reverse

Motor Motor
de-energized Motor power supply de-energized

The Torque Command Value Offset (3607 hex) reduces the variations of positioning operations due to
the movement directions when a certain amount of unbalanced load torque is always applied to the
motor at the vertical axis by setting the torque command.
By setting the friction torque for each rotation direction in the Forward Direction Torque Offset
(3608 hex) and Reverse Direction Torque Offset (3609 hex), you can reduce the deterioration of and
inconsistencies in the positioning stabilization time due to dynamic friction for loads that require a large
amount of dynamic friction torque due to a radial load, such as the belt-driven shaft.

Precautions for Correct Use

You can use the unbalanced load compensation and the dynamic friction compensation together
or separately. Take note that the following use limit is applied upon control mode switching or
servo ON.
• During Torque Control
The unbalanced load compensation and the dynamic friction compensation are 0 regardless
of the object setting.
• When servo is OFF during speed control
The unbalanced load compensation is enabled based on 3607 hex. The dynamic friction
compensation will be 0 regardless of the object setting.
• When the Servo Is Turned ON during Position Control or Fully-closed Control
The unbalanced load compensation and the dynamic friction compensation values are held
until the first position command is input. When the position command is input, the unbalanced
load compensation is updated based on 3607 hex. Also, based on the command direction, the
dynamic friction compensation value is updated according to objects 3608 and 3609 hex.

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11 Adjustment Functions

11-10Hybrid Vibration Suppression Function

This function suppresses the vibration that is caused by the amount of the torsion between the motor
and the load in the Fully-closed Control Mode. You can use this function to increase the gain setting.

11-10-1 Operating Conditions

The hybrid vibration suppression function can be used in the following situations.

Conditions
Operating mode Fully-closed Control mode
Others • When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly
and there is no trouble with the motor's normal rotation.

11-10-2 Objects Requiring Settings

Index Name Description Reference

3634 hex Hybrid Vibration Suppression Gain Set the hybrid vibration suppression gain. page 9-52
In general, set it to the same value as the position loop
gain, and finely adjust it based on the situation.
3635 hex Hybrid Vibration Suppression Filter Set the hybrid vibration suppression filter. page 9-52

11-10-3 Operating Procedure

1 Set the Hybrid Vibration Suppression Gain (3634 hex) to the same value as the position loop
gain.

2 Gradually increase the set value of the Hybrid Vibration Suppression Filter (3635 hex) while
driving with fully-closed control and check the changes in the response.
If the response improves, find the combination of 3634 hex and 3635 hex that result in the
optimal response by adjusting them.

Precautions for Correct Use

• This function is effective when the amount of torsion between the motor shaft and the load is
large. It may be less effective when the amount of torsion is small.

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 11 Adjustment Functions

11-11 Feed-forward Function

11-11 Feed-forward Function
The feed-forward function come in 2 types: speed feed-forward and torque feed-forward.
The speed feed-forward can minimize the position error and increase the responsiveness during
position or fully-closed control.
Responsiveness is improved by adding the speed feed-forward value calculated from the internal
position command and related objects (3110 hex and 3111 hex) to the speed command calculated by 11
comparing the internal position command and the position feedback.
If the Velocity offset (60B1 hex) is set, both the set value and the speed feed-forward valued are added

11-11-1 Objects Requiring Settings

to the Control effort (60FA hex).
The torque feed-forward can increase the responsiveness of the speed control system.
Responsiveness is improved by adding the torque feed-forward value calculated from the Control effort
(60FA hex) and related objects (3112 hex and 3113 hex) to the torque command calculated by
comparing the Control effort (60FA hex) and the speed feedback.
If the Torque offset (60B2 hex) is set, both the set value and the torque feed-forward valued are added
to the torque command.

11-11-1 Objects Requiring Settings

Index Name Description Reference

3110 hex Speed Feed-forward Gain The speed command from position control processing is page 9-10
added to the product of the Control effort (60FA hex) that is
calculated from the internal position command times the ratio
in this object.
3111 hex Speed Feed-forward Set the time constant for the first-order lag filter that is applied page 9-10
Command Filter to speed feed-forward input.
3112 hex Torque Feed-forward Gain The torque command from speed control processing is added page 9-10
to the product of the Control effort (60FA hex) times the ratio in
this object.
3113 hex Torque Feed-forward Set the time constant for the first-order lag filter that is applied page 9-10
Command Filter to torque feed-forward input.
60B1 hex Velocity offset Set the offset for the speed command. page A-68
It will be added to the Control effort (60FA hex).
60B2 hex Torque offset Set the offset for the torque command. page A-68
It will be added to the torque command value.

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11 Adjustment Functions

11-11-2 Operating Procedure

Speed Feed-forward Operating Method

1 Set the Speed Feed-forward Command Filter (3111 hex).
Set it to approx. 50 (0.5 ms).

2 Adjust the Speed Feed-forward Gain (3110 hex).

Gradually increase the value of the Speed Feed-forward Gain (3110 hex) and finely adjust it to
avoid overshooting during acceleration/deceleration.
If the speed feed-forward gain is set to 100%, the position error is calculated at 0. However,
large overshooting will occur during acceleration/deceleration.

The position error during an operation at a certain speed will decrease based on the following
formula according to the speed feed-forward gain value.

Position error [command units] = Command speed [command units/s]/Position loop gain [1/s]
× (100 - Speed feed-forward gain [%])/100

Position error
Speed Feed-forward gain
Motor speed
0 [%]
Command
speed
50 [%]

80 [%]
Time

The position error in the range of constant speed becomes smaller as the speed feed-forward
gain increases.

Precautions for Correct Use

• If the updating cycle of the position command input is longer than the Servo Drive control
cycle, or if the input command frequency is not uniform, the operating noise may increase
while the speed feed-forward is enabled. Apply the position command filter (first-order lag or
FIR smoothing) or increase the speed feed-forward filter setting.

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 11 Adjustment Functions

11-11 Feed-forward Function

Torque Feed-forward Operating Method
1 Set the Inertia Ratio (3004 hex).
Set the inertia ratio as correctly as possible.
• If the inertia ratio is calculated for the selected motor, input the calculated value.
• If the inertia ratio is not known, perform autotuning and set the inertia ratio.
11
2 Set the Torque Feed-forward Command Filter (3113 hex).
Set it to approx. 50 (0.5 ms).

11-11-2 Operating Procedure

3 Adjust the Torque Feed-forward Gain (3112 hex).
Gradually increase the value of the Torque Feed-forward Gain (3112 hex).
Since the position error during acceleration/deceleration at a constant speed can be brought
close to 0, it can be controlled almost to 0 throughout the entire operation range during a
trapezoidal speed pattern under ideal conditions where no disturbance torque is working.
In reality, disturbance torque is always applied and, therefore, the position error cannot be
completely 0.

Motor speed
Speed Feed-forward Gain = 100 [%] (fixed)
Position error
Command
speed Torque
Feed-forward Gain
0 [%]
50 [%]
Time

100 [%]

Torque feed-forward can reduce the position error in a range of constant acceleration/
deceleration.

Precautions for Correct Use

• If you increase the torque feed-forward filter time constant, the operation noise will be
reduced. However, the position error where the acceleration changes will become larger.
• The torque feed-forward function cannot be used when realtime autotuning is being used. Set
both the Torque Feed-forward Gain (3112 hex) and Torque Feed-forward Command Filter
(3113 hex) to 0.

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11 Adjustment Functions

11-12 Instantaneous Speed Observer Function

This function uses a load model to estimate the motor speed. It improves the speed detection accuracy
and can provide both high responsiveness and minimum vibration when stopping.

Motor Controller Internal torque Motor

Effort command
Current current
Speed control Motor Load
control

Speed estimation Instantaneous

value speed observer
(Total inertia)
Load model
Feedback motor
To position control position
Encoder

Servo Drive

11-12-1 Operating Conditions

The instantaneous speed observer function can be used in the following situations.

Conditions
Operating mode Position control (semi-closed control) or speed control
Others • When Servo is ON.
• When elements other than control parameters, such as the torque limit, are set correctly
and there is no trouble with the motor's normal rotation.
• When realtime autotuning function is disabled (3002 hex = 0).

11-12-2 Objects Requiring Settings

Index Name Description Reference

3610 hex Function Expansion Settings Set whether to enable or disable the instantaneous page 9-48
observer function.
3004 hex Inertia Ratio Set the inertia ratio. page 9-4

3100 hex Position Loop Gain 1 Set the position loop gain. page 9-7

3101 hex Speed Loop Gain 1 Set the speed loop gain. page 9-8

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 11 Adjustment Functions

11-12 Instantaneous Speed

11-12-3 Operating Procedure

Observer Function
1 Set the Inertia Ratio (3004 hex).
Set the inertia ratio as correctly as possible.
• If the Inertia Ratio (3004 hex) is obtained in realtime auto gain tuning, use the set value.
• If the inertia ratio is calculated for the selected motor, input the calculated value.
• If the inertia ratio is not known, perform autotuning and set the inertia ratio. 11

2 Adjust the position loop gain and speed loop gain.

11-12-3 Operating Procedure

Adjust Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), Speed Loop Integral
Time Constant 1 (3102 hex), and Torque Command Filter Time Constant 1 (3104 hex).
If no problem occurs in realtime autotuning, you can continue to use the settings.

3 Set the Function Expansion Setting (3610 hex).

• Set whether to enable or disable the instantaneous speed observer function in bit 0.
If you set this to 1 (enabled), the speed detection method switches to instantaneous speed
observer.
• If the machine operation noise or vibration increases, or fluctuations in the torque monitor
waveform increase significant enough to cause a problem, return the setting to 0 and make
sure that the inertia ratio or the adjustment objects are correct.
• If the machine operation noise or vibration decreases, or fluctuations in the torque monitor
waveform decrease, make small adjustments to the Inertia Ratio (3004 hex) to find the setting
that makes the smallest fluctuations while monitoring the position error waveform and the
actual speed waveform.
• If Position Loop Gain 1 (3100 hex), Speed Loop Gain 1 (3101 hex), or Speed Loop Integral
Time Constant 1 (3102 hex) is changed, the optimal value for the Inertia Ratio (3004 hex)
may change, so make small adjustments to the value of the Inertia Ratio (3004 hex) again to
set a value that makes the smallest fluctuations.

Precautions for Correct Use

This function may not function properly or the effect may not be apparent under the following
conditions.
• If there is a large resonance point at a frequency of 300 Hz or lower.
• If there is a non-linear element (play), such as a large backlash.
• If the load inertia changes.
• If there is a large disturbance torque with high-frequency elements applied.
• If the setting range for positioning is small.

G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 11-41
11 Adjustment Functions

11-42 G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)