5-16
The following settings and parameters are set automatic for enable/disable state of
Pr 6.10 “Function expansion setting” load variation suppression function automatic
adjustment.
Class No.
Title Function
6 10
Function extension
setting
When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, load variation suppression function will become
enabled (bit1 = 1).
When set to Pr 6.10 bit14=0,it is disabled(bit1 = 1).
6 23
Load variation
compensation gain
When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, sets to 90%.
When set to Pr 6.10 bit14=0, set to 0%.
When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, sets to 90%.
When set to Pr 6.10 bit14=0, set to 0%.
6 24
Load variation
compensation lter
When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, updates to match rigidity.
When set to Pr 6.10 bit14=0, value is held.
6 73 Load estimation lter
When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, set to 0 ms.
6 74
Torque compensation
frequency 1
Regardless value of the Pr 6.10 bit 14, sets to 0.
6 75
Torque compensation
frequency 2
Regardless value of the Pr 6.10 bit 14, sets to 0.
6 76
Load estimation
numbers
When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, sets to 4.
When set to Pr 6.10 bit14=0, set to 0.
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Standard type
Related page
• P.4-6 to P.4-85... “Details of parameter”
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