7
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
Chapter 7 Parameter Functions
7-1 Parameter Group Description ................................................................................................ 7-2
7-2 Parameter Function List ......................................................................................................... 7-3
7-3 Parameter Function Detail description ................................................................................ 7-20
7-3-1 System Parameters (Cn0□□) ............................................................................. 7-20
7-3-2 CANopen parameter (Cn0□□) Only JSDG2S model contains this function ...... 7-55
7-3-3 Torque Control Parameters (Tn1□□) ................................................................. 7-57
7-3-4 Speed Control Parameters (Sn2□□) .................................................................. 7-63
7-3-5 Speed Control Parameters (Pn3□□) .................................................................. 7-71
7-3-6 Control Parameter for Multi-position Control (Pn4□□) .................................... 7-97
7-3-7 Shortcut Parameters (qn5□□) .......................................................................... 7-100
7-3-8 Multifunction Contact Planning Parameters (Hn6□□) .................................... 7-102
7-3-9 CiA 402 Parameters (EC7□□) ......................................................................... 7-108
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