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Machine resonance suppression filter 1
To set a specific frequency which the controls gain is decreased
to suppress the mechanism resonance.
Machine resonance suppression attenuation 1
To set the attenuation at the PB01 frequency. The setting of “0”
value denotes the disabled of this notch filter.
Resonance suppression low-pass filter
To set low-pass filter time constant for suppress resonance.
Position command filter time constant
Used to smooth the running of motor in position control mode.
See section 6.4.3 for more details.
Position feed-forward gain
To reduce the position error and position settling time, but if the
value is set too large, a sudden acceleration or deceleration
may cause overshoots.
The ratio of load inertia to motor shaft (load inertia ratio)
See section 5.3.3 for more details.
Position loop gain
Used to decide response level of position loop. Increasing PG1
improves traceability, but a too high value makes overshooting
or vibration occurred.
Speed loop gain
Increasing VG1 improves traceability to a speed command but
a too high value will make machine resonance. It will be set
when auto-gain tuning mode is applied.
Speed integral gain
Used to eliminate stationary deviation against a command.
Speed feed-forward gain
To set the proper gain would reduce the tracking time of speed
command.
x：changing condition
0：Invalid
1：Gain switched as the CDP signal of DI is ON
2:Position command frequency >= PB12 setting
3:Position command pulse error >=PB12 setting
4:Motor speed >= CDS(PB12) setting
5：Gain switched as the CDP signal of DI is OFF
6:Position command frequency <= PB12 setting
7:Position command pulse error <= PB12 setting
8:Motor speed <= PB12 setting
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