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13. POSITIONING MODE
13.7.2 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.
Set any parameter with [Applied] written in the name column when using an
advanced function.
Never change parameters for manufacturer setting.
No. Symbol Name
Initial
value
Unit Reference
PB01 FILT
Adaptive tuning mode (Adaptive filter II)
000h Section 4.2.2
PB02 VRFT
Vibration suppression control tuning mode (Advanced vibration
suppression control)
000h
PB03
This parameter is not used. Do not change this value by any means.
PB04 FFC
Feed forward gain
[Applied] 0 % Section 4.2.2
PB05
For manufacturer setting
500
PB06 GD2
Load to motor inertia moment ratio
7.0 Multiplier Section 4.2.2
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
[Applied] 980
PB12 OVA
Overshoot amount compensation
[Applied] 0 %
PB13 NH1
Machine resonance suppression filter 1
4500 Hz
PB14 NHQ1
Notch shape selection 1
000h
PB15 NH2
Machine resonance suppression filter 2
4500 Hz
PB16 NHQ2
Notch shape selection 2
000h
PB17
Automatic setting parameter
PB18 LPF
Low-pass filter setting
[Applied] 3141 rad/s Section 4.2.2
PB19 VRF1
Vibration suppression control vibration frequency setting
[Applied] 100.0 Hz
PB20 VRF2
Vibration suppression control resonance frequency setting
[Applied] 100.0 Hz
PB21
For manufacturer setting
0
PB22
0
PB23 VFBF
Low-pass filter selection
[Applied] 000h Section 4.2.2
PB24
For manufacturer setting
000h
PB25 *BOP1
Function selection B-1
[Applied] 000h Section 4.2.2
PB26 *CDP
Gain changing
[Applied] 000h
PB27 CDL
Gain changing condition
[Applied] 10
PB28 CDT
Gain changing time constant
[Applied] 1 ms
PB29 GD2B
Gain changing load to motor inertia moment ratio
[Applied] 7.0 Multiplier
PB30 PG2B
Gain changing position loop gain
[Applied] 37 rad/s
PB31 VG2B
Gain changing speed loop gain
[Applied] 823 rad/s
PB32 VICB
Gain changing speed integral compensation
[Applied] 33.7 ms
PB33 VRF1B
Gain changing vibration suppression control vibration frequency setting
[Applied] 100.0 Hz
PB34 VRF2B
Gain changing vibration suppression control resonance frequency setting
[Applied] 100.0 Hz
PB35
For manufacturer setting
0
PB36
0
PB37
100
PB38 NH3
Machine resonance suppression filter 3
4500 Hz Section 4.2.2
PB39 NHQ3
Notch shape selection 3
000h
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