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17. APPLICATION OF FUNCTIONS
17 - 45
Parameter Symbol Name Setting value Unit
PX10 VRF23B Vibration suppression control 2 -
Vibration frequency damping after
gain switching
0.05
PX11 VRF24B Vibration suppression control 2 -
Resonance frequency damping
after gain switching
0.05
b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
Control command
from controller
OFF
ON
OFF
Model loop gain 100 → 50 → 100
Load to motor inertia ratio/load to motor
mass ratio
4.00 → 10.00 → 4.00
Position loop gain 120 → 84 → 120
Speed loop gain 3000 → 4000 → 3000
Speed integral compensation 20 → 50 → 20
Vibration suppression control 1 - Vibration
frequency
50 → 60 → 50
Vibration suppression control 1 -
Resonance frequency
50 → 60 → 50
Vibration suppression control 1 - Vibration
frequency damping
0.20 → 0.15 → 0.20
Vibration suppression control 1 -
Resonance frequency damping
0.20 → 0.15 → 0.20
Vibration suppression control 2 - Vibration
frequency
20 → 30 → 20
Vibration suppression control 2 -
Resonance frequency
20 → 30 → 20
Vibration suppression control 2 - Vibration
frequency damping
0.10 → 0.05 → 0.10
Vibration suppression control 2 -
Resonance frequency damping
0.10 → 0.05 → 0.10