5-44
5. Manual Gain Tuning (Application)
Model type resonance oppression notch filter
Caution
I
n addition
，
Previous damping lter is used under the following conditions.
Conditions of the previous damping filter
Parameter
setting
• Resonance frequency and antiresonance frequency is the relation.
300.0[Hz]
≧
Resonance frequency >antiresonance frequency
≧
5.0[Hz]
• response frequency and antiresonance frequency is the relation.
300.0[Hz]
≧
antiresonance frequency*4
≧
Resonance frequency
≧
antiresonance frequency
≧
5.0[Hz]
• By setting value of Pr2.13[Selection of damping filter switching] is
equalto 4,it is effctive to make the 1st and the 2nd model type resonance
oppression notch lter,in addition the 1st and the 2nd response
frequency/antiresonance frequency ratio is out of the range of 8.(At this
moment,the 2nd model type resonance oppression notch lter become
the previous damping lter.)
When the damping lter works in a conventional manner, the three parameters of anti-
resonance frequency, anti-resonance attenuation ratio and response frequency will be
used for damping frequency, damping depth and damping lter setting.
To completely disable this function, all of the five parameters of resonance frequency,
resonance attenuation ratio, anti-resonance frequency, anti-resonance attenuation ratio
and response frequency should be set to 0.
How to Use
The determination of resonance frequency and anti-resonance frequency is the
frequency characteristic analysis.Need to set the appropriate parameters.
Model-type damping lter is setted by Pr2.13.
Contents of setup values 4 to 6 will differ with enabled/disabled switching of
two degree-of-freedom control mode.
Two degree-of-freedom control mode disabled,set the value as 0.
Pr2.13 VS-SEL1
1st model type
damping
2nd model type
damping
4 — Enabled Enabled
5
OFF Enabled Disabled
ON Disabled Enabled
When set to 6:To be switched by command direction.
Pr2.13
Position command
direction
1st model type
damping
2nd model type
damping
6
Positive direction Enabled Enabled
Negative direction Disabled Enabled
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