6-1
Chap 6 Servo Gain Adjustment
6-1 Servo Gain Adjustment Flowchart......................................................................................... 6-2
6-2 Servo Gain Adjustment Parameter Description ..................................................................... 6-3
6-3 Automatic Gain Adjustment (Off-line tuning) Instructions ................................................... 6-9
6-4 Notch Filter .......................................................................................................................... 6-17
6-5 Low Frequency Vibration Suppression Function ................................................................ 6-23
6-6 Manual Gain Adjustment ..................................................................................................... 6-27
6-7 Gain Switching Function ................................................................................................... 6-29
6-7-1 PI/P Switching Mode ............................................................................................ 6-29
6-7-2 Two Stage Gain Switching Mode ......................................................................... 6-32
6-8 Improved Response Characteristics ..................................................................................... 6-36
6-9 OnLine-AutoTuning (Inertia Only Displays) ...................................................................... 6-37
6-10 Speed reference control ..................................................................................................... 6-38
6-11 Friction compensation control ........................................................................................... 6-40
6-12 Speed observer ................................................................................................................... 6-42
6-13 Model tracking control ...................................................................................................... 6-44
6-14 Disturbance Observer ........................................................................................................ 6-47
6-15 On-line tuning .................................................................................................................... 6-49
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