LS ELECTRIC L7NHF Series, User Manual

Page: 163 / 409

7. Tuning
7-5

Parameters Changed by Tuning

Inertia ratio (0x2100), position loop gain 1 (0x2101), speed loop gain 1 (0x2102), speed integral
time constant 1 (0x2103), torque command filter time constant 1 (0x2104)

Notch filter 3, 4 frequency (0x2507, 0x250A) → Refer to
the auto notch setting function
Notch Filter
3
4
0x2508
0x250B
0x2501
0x2504
1
2
0x2502
0x2505
0x2509
0x250C
0x2503
0x2506
Frequency Width Depth
0x2500
Adaptive Filter
function Select
Torque Filter
Time
0x2108
1
2
Velocity Control
0x2106
1
2 0x2107
P Gain I Gain
-
+
Position Control
0x2105
1
2
P Gain
-
+
Motor
Load
Encoder
Space
Vector
Control
Current Control
0x2514 Gain
PWM
Control
Load Inertia
Estimation
0x2100 Inertia
Resonance
Frequency
Estimation
Ref.
Velocity
Calculation
Velocity
Calculation
Velocity Feedback
Current Feedback
Position Feedback
0x2507
0x250A
0x2104
0x2102 0x2103 0x2101
Torque Command

Related Objects
Index
Sub
Index
Name
Variable
Type
Accessibility
PDO
Assignment
Unit
0x250D On-line Gain Tuning Mode UINT RW No -
0x250E System Rigidity for Gain Tuning UINT RW No -
0x250F On-line Tuning Adaptation Speed UINT RW No -