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5. PARAMETERS
5 - 22
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PB01 FILT Adaptive tuning mode (adaptive filter II)
Set the adaptive filter tuning.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Filter tuning mode selection
Select the adjustment mode of the machine resonance suppression
filter 1. Refer to section 7.1.2 for details.
0: Disabled
1: Automatic setting
2: Manual setting
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for details.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Vibration suppression control 1 tuning mode selection
Select the tuning mode of the vibration suppression control 1.
0: Disabled
1: Automatic setting
2: Manual setting
0h
_ _ x _ Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression control 2. To
enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration
suppression mode selection" in [Pr. PA24 Function selection A-4].
0: Disabled
1: Automatic setting
2: Manual setting
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PB03 TFBGN Torque feedback loop gain
This is used to set a torque feedback loop gain in the continuous operation to torque control
mode.
Decreasing the setting value will also decrease a collision load during continuous operation to
torque control mode.
Setting a value less than 6 rad/s will be 6 rad/s.
18000
[rad/s]
0 to
18000
PB04 FFC Feed forward gain
Set the feed forward gain.
When the setting is 100%, the droop pulses during operation at constant speed are nearly
zero. When the super trace control is enabled, constant speed and uniform
acceleration/deceleration droop pulses will be almost 0. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward
gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed.
0
[%]
0 to 100