LS ELECTRIC L7NHF Series, User Manual

Page: 274 / 409

10. Object Dictionary
10-82
0x250C Notch Filter 4 Depth ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 1 to 5 1 - RW No Always Yes
You can set the depth of Notch Filter 4.
0x250D On-line Gain Tuning Mode ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 0 to 1 0 - RW No Always Yes
It determines whether real-time gain is adjusted during operation. The factory setting is 0 (Do
not use). The estimated gain at online tuning is reflected every 64 ms, and the changed gain is
stored in EEPROM about every 2 minutes.
Setting Value Setting details
0 On-line gain tuning not used
1 On-line gain tuning used
0x250E System Rigidity for Gain Tuning ALL
Variable
Type
Setting Range Initial Value Unit
Accessi
bility
PDO
Assignm
ent
Variable
Attribute
Savin
g
UINT 1 to 20 5 - RW No Always Yes
This specifies the system rigidity applied for gain tuning. After the gain tuning according to the
setting, the overall gain will be set higher or lower. If the gain of the maximum setting value is not
enough, carry out the tuning manually.
Increasing the system rigidity setting will increase the gain and shorten the positioning time.
However, if the setting is too high, vibration may occur depending on the machine configuration.
Adjust the system rigidity setting from low to high values within a range that does not cause
vibration.
After the gain tuning, the following gains will be automatically changed:
Inertia ratio (0x2100), position loop gain 1 (0x2001), speed loop gain 1 (0x2102), speed integral
time constant 1 (0x2103), torque command filter time constant 1 (0x2104), notch filter 3 frequency
(0x2507, TBD), and notch filter 4 frequency (0x250A, TBD).
The gain values (position loop gain, speed loop gain, speed integration time constant and torque
command filter time constant) according to the system rigidity settingsare determined by the values
in the table below.