CHAPTER 15 APPENDIXES
15-8
Parameter List
15
Control mode
No. Name Power
Position Speed Torque
Record of reference
value
64
Position loop gain 2
-
- -
65
Speed loop gain 2
-
-
66
Speed loop integration time constant 2
-
-
67
Feed forward gain 2
-
- -
68
Acceleration compensation gain for
position control
-
- -
70
Automatic notch filter selection
-
-
71
Notch filter 1 frequency
-
-
72
Notch filter 1 attenuation
-
-
73
Notch filter 1 width
-
-
74
Notch filter 2 frequency
-
-
75
Notch filter 2 attenuation
-
-
76
Notch filter 2 width
-
-
77
Automatic vibration suppressing selection
-
- -
78
Vibration suppressing anti resonance
frequency 0
-
- -
79
Vibration suppressing workpiece inertia
ratio (vibration suppressing resonance
frequency) 0
-
- -
80
Vibration suppressing anti resonance
frequency 1
-
- -
81
Vibration suppressing workpiece inertia
ratio (vibration suppressing resonance
frequency) 1
-
- -
82
Vibration suppressing anti resonance
frequency 2
-
- -
83
Vibration suppressing workpiece inertia
ratio (vibration suppressing resonance
frequency) 2
-
- -
84
Vibration suppressing anti resonance
frequency 3
-
- -
85
Vibration suppressing workpiece inertia
ratio (vibration suppressing resonance
frequency) 3
-
- -
86
Vibration suppressing damping coefficient
-
- -
87
Model torque filter time constant
-
-
88
Position loop integration time constant
-
- -
89
Position loop integration limiter
-
- -
90
Load torque observer
-
-
91
P/PI automatic change selection
-
-
92
Speed range for friction compensation
-
-
93
Coulomb friction torque for friction
compensation
-
-
94
Torque filter setting mode
-
-
95
Model torque calculation selection, speed
observer selection
-
-
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