Omron R88D-KN01L-ECT-L

9 - 21
9 Servo Parameter Objects
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
9-3 Vibration Suppression Settings
9
• Set the width of resonance suppression notch filter 4 to one of 20 levels.
• Increasing the setting value widens the notch width. Normally, use the default set value.
• When two adaptive filters are enabled, this object is set automatically.
Refer to 11-6 Adaptive Filter on page 11-21 and 11-7 Notch Filters on page 11-24.
• Set the notch depth of resonance suppression notch filter 4.
• Increasing the setting value shortens the notch depth and the phase lag.
• When the adaptive filter is enabled, this object is set automatically.
Refer to 11-6 Adaptive Filter on page 11-21 and 11-7 Notch Filters on page 11-24.
• Set the method to switch among four damping control filters.
Explanation of Settings
*1 The set value 1 and 2 are for manufacturer’s use only. Users are not allowed to set 1 and 2 for this object.
*2 The table below shows the damping filter you can switch to based on the command direction.
(3: Enabled/–: Disabled)
3211 hex
Notch 4 Width Setting
Setting
range
0 to 20
Unit
–
Default
setting
2 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3212 hex
Notch 4 Depth Setting
Setting
range
0 to 99
Unit
–
Default
setting
0 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
3213 hex
Damping Filter Selection
Setting
range
0 to 3
Unit
–
Default
setting
0 Data
attribute
B
Size 2 bytes (INT16) Access RW PDO map Not possible
Set value Description
0 Up to two filters, Damping Filter 1 and Damping Filter 2, can be used simultaneously.
1
Reserved for manufacturer use
*1
2
Reserved for manufacturer use
*1
3
The damping filters are switched in the direction of the position command.
*2
Direction of position
command
Damping filter 1 Damping filter 2 Damping filter 3 Damping filter 4
Positive 3 – 3 –
Negative – 3 – 3
All
All
csp csv
pp
hm