-168-
6 Gain Tuning
H08-19
Speed feedforward gain
Defines the speed feedforward gain.
6.6.2 Parameter Adjustment in the Speed Control Mode
Parameter adjustment in the speed control mode is the same as that in the position control mode except
for the position loop gain (H08-02 and H08-05). See section
for details.
6.6.3 Parameter Adjustment in the Torque Control Mode
Parameter adjustment in the torque control mode are differentiated based on the following conditions:
■
If the actual speed reaches the speed limit, the adjustment method is the same as that described in
section 6.6.2.
■
If the actual speed does not reach the speed limit, the adjustment method is the same as that
described in section 6.6.2, except for the position/speed loop gain and speed loop integral time
constant.
6.7 Vibration Suppression
The block diagram for vibration control is as follows.
Speed loop
control
Current loop
control
Position loop
control
Disturbance
observer
I/S
VIBSUP
3
Motor
NTF3
NTF4
NTF1
NTF2
■
NTF1–4: 1st notch to 4th notch
■
VIBSUP3: Suppression of medium- and low-frequency vibration featuring a frequency lower than
300 Hz
■
1/S: Integral element
☆ Related parameters
Para.
No.
Name
Default
Unit
Min. Value
Max. Val-
ue
Setting
Condition
Effective
Time
H08-53
Medium- and low-
frequency jitter suppression
frequency 3
0
0.1 Hz
0
6000
During
running
Immediately
H08-54
Medium- and low-
frequency jitter suppression
compensation 3
0
1%
0
200
During
running
Immediately
H08-56
Medium- and low-
frequency jitter suppression
phase modulation 3
300
1%
0
1600
During
running
Immediately
H08-59
Medium- and low-
frequency jitter suppression
frequency 4
0
0.1 Hz
0
3000
During
running
Immediately
