5-134
Chap. 5 FUNCTION CODES
F codes
E codes
C codes
P codes
H codes
A codes
b codes
r codes
J codes
d codes
U codes
y codes
d07
d08
Speed Control 1 (Notch filter resonance frequency)
Speed Control 1 (Notch filter attenuation level)
A49, b49, r49 (Speed control 2 to 4, Notch filter resonance frequency)
A50, b50, r50 (Speed control 2 to 4, Notch filter attenuation level)
These function codes specify speed control using notch filters. The notch filters make it possible to decrease the speed
loop gain only in the vicinity of the predetermined resonance points, suppressing the mechanical resonance.
The notch filters are available only under "vector control with speed sensor."
Setting the speed loop gain at a high level in order to obtain quicker speed response may cause mechanical resonance. If
it happens, decreasing the speed loop gain is required to slow the speed response as a whole. In such a case, using the
notch filters makes it possible to decrease the speed loop gain only in the vicinity of the predetermined resonance points
and set the speed loop gain at a high level in other resonance points, enabling a quicker speed response as a whole.
The following four types of notch filters can be specified.
Function code Name Data setting range Unit Default setting
d07
Speed control 1
(Notch filter resonance frequency)
1 to 200 Hz 200
Notch filter 1
d08
Speed control 1
(Notch filter attenuation level)
0 to 20 dB 0 (Disable)
A49
Speed control 2
(Notch filter resonance frequency)
1 to 200 Hz 200
Notch filter 2
A50
Speed control 2
(Notch filter attenuation level)
0 to 20 dB 0 (Disable)
b49
Speed control 3
(Notch filter resonance frequency)
1 to 200 Hz 200
Notch filter 3
b50
Speed control 3
(Notch filter attenuation level)
0 to 20 dB 0 (Disable)
r49
Speed control 4
(Notch filter resonance frequency)
1 to 200 Hz 200
Notch filter 4
r50
Speed control 4
(Notch filter attenuation level)
0 to 20 dB 0 (Disable)
Setting the notch filter attenuation level to "0" (dB) disables the corresponding notch filter.
It is possible to apply all of the four notch filters to the 1st motor or apply each notch filter to each of the 1st to 4th
motors.
Notch filter 1
Notch filter 2 Notch filter 3 Notch filter 4
Requisite for use of notch filters
d07 and d08 A49 and A50 b49 and b50 r49 and r50
M2, M3, and M4 ("Select motor 2, 3, and
4") are not in use.
(E01 to E07, E98, E99 ≠ 12, 36, 37)
All of the three "Motor/Parameter
Switching" items are set to "Parameter."
(A42, b42, r42 = 1)
All of the four notch filters apply to the 1st motor.
Other than the above To the 1st motor To the 2nd motor To the 3rd motor To the 4th motor
d09, d10
d11 to d13
Speed Control (Jogging) (Speed command filter and Speed detection filter)
(P (Gain), I (Integral time) and Output filter)
(Refer to d01.)
These function codes control the speed control sequence for jogging operations.
The block diagrams and function codes related to jogging operations are the same as for normal operations.
Since this speed control sequence is exclusive to jogging operations, specify these function codes to obtain higher speed
response than that of normal operations for smooth jogging operations.
For details, refer to the corresponding descriptions (d01 to d04 and d06) about the speed control sequence for normal
operations.
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