9 Details on Servo Parameter Objects
9-52
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
Precautions for Safe Use
• This object must be set in units of bits. Users must be fully aware that proper operation of your
system is not guaranteed, if you have incorrect object settings. Pay a particular attention when
you set them.
Additional Information
Procedure to Set the Object Bit by Bit
Follow these steps and calculate the set values, when you make any setting other than 0.
(1) Confirm the least significant bit (LSB) in each set value.
E.g. LSB of Torque compensation function: 4
(2) Multiply the set value by 2 to the power of the bit number of the LSB.
E.g. To set the torque compensation to Friction compensation (small): The set value is
3. The exponent is 4.
2
4
× 3 = 48
(3) Repeat Step (1) and (2) for all bit settings. Add all results and set the outcome to 3632
hex.
E.g. When all of the Load characteristic estimation, the Inertia ratio updating, the
Rigidity setting, and the Gain switch setting are enabled, the Torque compensation is
set to Friction compensation (small), and the Fixed object setting is set to a Fixed value:
2
0
× 1 + 2
2
× 1 + 2
4
× 3 + 2
7
× 1 + 2
8
× 1 + 2
9
× 2 = 1461
• Set the hybrid vibration suppression gain during fully-closed control.
• In general, set it to the same value as the position loop gain, and finely adjust it based on the
situation.
• Refer to 11-10 Hybrid Vibration Suppression Function on page 11-30.
• Set the hybrid vibration suppression filter.
• Refer to 11-10 Hybrid Vibration Suppression Function on page 11-30.
• Set the vibration detection threshold.
• If torque vibration that exceeds this setting is detected, a vibration detection warning occurs.
• Refer to 12-2 Warnings on page 12-5.
• Set the value in units of 0.1% of the rated torque (100%).
3634 hex
Hybrid Vibration Suppression Gain
Setting range 0 to 30000 Unit 0.1/s Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3635 hex
Hybrid Vibration Suppression Filter
Setting range 0 to 6400 Unit 0.01 ms Default setting 10 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3637 hex
Vibration Detection Threshold
Setting range 0 to 1000 Unit 0.1% Default setting 0 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
csp (semi)
pp (semi)
hm (semi)
csp (semi)
pp (semi)
hm (semi)
All
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