1 SERVO PARAMETER DETAILS
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
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1
[Pr. PB79_Gain switching 2 - Model control gain (PG1C)]
Set the model control gain for when the gain switching is enabled.
When the setting value of this servo parameter is less than "1.0", the setting value of [Pr. PB07 Model control gain] is applied.
This servo parameter is enabled in the following conditions:
• [Pr. PB26.0 Gain switching selection] is set to "1" (signal (CDP/C_CDP)) while [Pr. PB26.4 Gain switching 2 selection] is set
to "2" (the same condition as [Pr. PB26.0 Gain switching selection]), or [Pr. PB26.4] is set to "1" (signal (CDP2/C_CDP2)).
[Pr. PB81_Command filter (*CFIL)]
[Pr. PB81.4_Position command smoothing filter]
This function can be used only in position mode and positioning mode.
This filter and [Pr. PB45 Command notch filter] are mutually exclusive. "1" (enabled) can be set in this function only when [Pr.
PB45.0-1 Command notch filter setting frequency selection] is set to "00" (disabled). When a setting value other than "00"
(disabled) is set in [Pr. PB45.0-1], the filter is disabled regardless of the setting value.
0: Disabled
1: Enabled
When "1" (enabled) is selected, set the filter time constant with [Pr. PB82 Position command smoothing filter time constant].
[Pr. PB82_Position command smoothing filter time constant
(PFT)]
Set the position command smoothing filter time constant.
This servo parameter can be used when [Pr. PB81.4 Position command smoothing filter] is set to "1" (enabled).
When [Pr. PA01.7 High-speed mode selection] is set to "1" (enabled), values exceeding 50 [ms] are clamped to 50 [ms].
Initial value
Setting range
Setting method
Ver.
0.0 [rad/s]
0.0 to 8000.0
Each axis
A0
Initial value
Setting range
Setting method
Ver.
00000001h
Refer to the relevant detail No.
Each axis
Refer to the relevant detail No.
Initial value
Setting range
Ver.
0h
Refer to the text
A5
Initial value
Setting range
Setting method
Ver.
0.0 [ms]
0.0 to 100.0
Each axis
A5
