5-63
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Class No.
Title Function
6 48 Adjust lter
Sets time constant of adjustment lter.
When the torque lter setting is changed, set the parameter
to a value close to real-time auto-tuning setting.
Fine adjustment by checking positional deviation of the
encoder near setting point may improve overshoot or
oscillatory waveform.
6 49
Adjust/
Torque command
attenuation term
Sets attenuation term of command lter and adjustment lter.
Decimal notation: 1st digit sets command lter and 2nd digit
sets adjustment lter.
Value of digit 0 to 4:
Without attenuation term (functions as 1st lter).
Value of digit 5 to 9:
The 2nd lter (attenuation term
ζ
is 1.0, 0.86, 0.71, 0.50
and 0.35, in that order).
<Example>
To set command lter
ζ
= 1.0, adjustment lter 1
ζ
= 0.71:
Setup value = 75 1st digit = 5 (
ζ
= 1.0), 2nd digit = 7 (
ζ
= 0.71)
Pr2.22 Command smoothing lter is applied as time
constant of command lter.
6 50
Viscous friction
compensation
gain
Adds the result of command speed multiplied by this
setup value to torque command as viscous friction torque
correction value. By setting the estimate value of viscous
friction coefcient of real-time auto-tuning, encoder positional
deviation near the setting point may be improved.
5. Manual Gain Tuning (Application)
Two-degree-of-freedom control mode (Position control mode)
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