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5. PARAMETERS
5.2 Gain/filter parameters (No.PB
)
POINT
For any parameter whose symbol is preceded by *, set the parameter value and
switch power off once, then switch it on again to make that parameter setting
valid.
5.2.1 Parameter list
No. Symbol Name Initial value Unit
Control mode
Position Speed Torque
PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h
PB02 VRFT
Vibration suppression control tuning mode
(Advanced vibration suppression control)
0000h
PB03 PST
Position command acceleration/deceleration time constant
(Position smoothing)
0 ms
PB04 FFC Feed forward gain 0
PB05 For manufacturer setting 500
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0
Multiplier
(
1)
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 OVA Overshoot amount compensation 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
For manufacturer setting 0.00
PB22 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control selection 0000h
PB25 *BOP1 Function selection B-1 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
Multiplier
(
1)
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