Filter
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3 COMMON PARAMETERS
(2) Gain/filter parameters
No. Symbol Name Initial value Unit
PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h —
PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression control) 0000h —
PB03 — For manufacturer setting 0 —
PB04 FFC Feed forward gain 0 %
PB05 — For manufacturer setting 500 —
PB06 GD2 Ratio of load inertia moment to servomotor inertia moment 7.0 times
PB07 PG1 Model loop gain 24 rad/s
PB08 PG2 Position loop gain 37 rad/s
PB09 VG2 Speed loop gain 823 rad/s
PB10 VIC Speed integral compensation 33.7 ms
PB11 VDC Speed differential compensation 980 —
PB12 — For manufacturer setting 0 —
PB13 NH1 Machine resonance suppression filter 1 4500 Hz
PB14 NHQ1 Notch shape selection 1 0000h —
PB15 NH2 Machine resonance suppression filter 2 4500 Hz
PB16 NHQ2 Notch shape selection 2 0000h —
PB17 — Automatic setting parameter — —
PB18 LPF Low pass filter setting 3141 rad/s
PB19 VRF1 Vibration suppression control - vibration frequency setting 100.0 Hz
PB20 VRF2 Vibration suppression control - resonance frequency setting 100.0 Hz
PB21 0.00
PB22
— For manufacturer setting
0.00
—
PB23 VFBF Low pass filter selection 0000h —
PB24 MVS Slight vibration suppression control selection 0000h —
PB25 — For manufacturer setting 0000h —
PB26 CDP Gain changing selection 0000h —
PB27 CDL Gain changing condition 10 —
PB28 CDT Gain changing time constant 1 ms
PB29 GD2B Gain changing - ratio of load inertia moment to servo motor inertia moment 7.0 times
PB30 PG2B Gain changing - position loop gain 37 rad/s
PB31 VG2B Gain changing - speed loop gain 823 rad/s
PB32 VICB Gain changing - speed integral compensation 33.7 ms
PB33 VRF1B Gain changing - vibration suppression control - vibration frequency setting 100.0 Hz
PB34 VRF2B Gain changing - vibration suppression control - resonance frequency setting 100.0 Hz
PB35 0.00
PB36 0.00
PB37 100
PB38 0.0
PB39 0.0
PB40 0.0
PB41 1125
PB42 1125
PB43 0004h
PB44 0.0
PB45
— For manufacturer setting
0000h
—
POINTS
(1) When the items marked " " in the above table has changed, make the Multiple
CPU system reset or power supply OFF to ON. And, once turn OFF the servo
amplifier power supply and then turn ON it again.