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Table of Contents
5-10 Electronic Gear ................................................................................ 5-21
5-11 Speed Limit ...................................................................................... 5-22
5-12 Sequence Input Signals ................................................................... 5-23
5-13 Sequence Output Signals ................................................................ 5-25
5-14 Backlash Compensation .................................................................. 5-27
5-15 Overrun Protection ........................................................................... 5-29
5-16 Gain Switching ................................................................................. 5-31
5-17 Speed Feed-forward ........................................................................ 5-38
5-18 Torque Feed-forward ....................................................................... 5-39
5-19 Speed Feedback Filter Selection ..................................................... 5-40
5-20 P Control Switching.......................................................................... 5-41
5-21 Torque Command Filter Time Constant........................................... 5-42
5-22 Notch Filter....................................................................................... 5-43
5-23 Adaptive Filter .................................................................................. 5-45
5-24 Instantaneous Speed Observer ....................................................... 5-48
5-25 Damping Control .............................................................................. 5-50
5-26 User Parameters .............................................................................. 5-55
5-27 Details on Important Parameters ..................................................... 5-86
Chapter 6 Operation
6-1 Operational Procedure ..................................................................... 6-1
6-2 Preparing for Operation.................................................................... 6-2
6-3 Using the Parameter Unit................................................................. 6-8
6-4 Setting the Mode .............................................................................. 6-9
6-5 Trial Operation ................................................................................. 6-31
Chapter 7 Adjustment Functions
7-1 Gain Adjustment............................................................................... 7-1
7-2 Realtime Autotuning......................................................................... 7-3
7-3 Normal Mode Autotuning ................................................................. 7-9
7-4 Manual Tuning ................................................................................. 7-14
Chapter 8 Troubleshooting
8-1 Error Processing .............................................................................. 8-1
8-2 Alarm Table...................................................................................... 8-3
8-3 Troubleshooting ............................................................................... 8-7
8-4 Overload Characteristics (Electronic Thermal Function).................. 8-21
8-5 Periodic Maintenance....................................................................... 8-22
Chapter 9 Appendix
9-1 Parameter Tables............................................................................. 9-1
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