4-105
H
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn50A.0
Input signal
selection 1
Input signal
selection mode
GSEL signal is not allocated in the default settings.
Set Pn50A.0 to 1 (user-defined settings).
4-4-3 Important
Parameters
Pn50d.2
Input signal
selection 4
GSEL signal
selection
Allocate GSEL signal.
Pn104
No. 2 speed loop
gain
Set the speed loop gain for when GSEL is ON.
4-4-4 Parameter
Details
Pn105
No. 2 speed loop
Differential time
constant
Set the speed loop differential time constant for
when GSEL is ON.
e a s
Pn106
No. 2 position
loop gain
Set the position loop gain for when GSEL is ON.
•
Adjust Pn104, Pn 105, and Pn 106 when GSEL is ON according to
4-7-2 Manual Tuning
. Fn001 (rigid-
ity setting for online auto-tuning) is not performed on No. 2 gain, however, so set the initial values for
adjustment referring to the above table.
4-8-6
Notch Filter (Position, Speed, Internally-set Speed
Control)
H
Functions
•
You can set the notch filter for the internal torque command (commands to the current loop).
•
Set the resonance frequency in Pn409 (notch filter frequency) to prevent machine resonance. You can
reduce positioning time by setting a high speed loop gain.
H
Parameters Requiring Settings
Parameter
No.
Parameter name
Explanation
Reference
Pn408.0
Torque command
setting
Notch filter
function selection
To use the notch filter function, set Pn408.0 to 1
(notch filter ON).
4-4-4
Parameter
Details
Pn409
Notch filter
frequency
Set the machine resonance frequency.
H
Setting Procedure
•
Measure the torque resonance frequency by increasing the Pn100 (speed loop gain) with the machin-
ery vibrating slightly. Use the OMNUC W-series Servo Driver Computer Monitoring Software to mea-
sure the analog monitor (torque command monitor) output.
Operation
Chapter 4
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