4-107
4-8-8
Speed Feedback Filter (Position, Speed, Internally-set
Speed Control)
H
Functions
•
This function sets the primary filter for the speed feedback gain.
•
Use the filter function when you cannot raise the speed loop feedback due to mechanical system
vibration, etc.
Note
If you use the speed feedback compensation function, online auto-tuning will not operate normal-
ly. To use the speed feedback compensation function, turn OFF the online auto-tuning (Pn110.0 =
2).
H
Parameters Requiring Settings
Parameter No.
Parameter
Name
Explanation
Reference
Pn308
Speed feedback
filter time
constant
Set the filter time constant for the speed feedback.
(Setting range: 0 to 65535 (x 0.01 ms).)
4-4-4 Parameter
Details
H
Setting Procedure
•
Measure the machinery vibration cycle, and set Pn308 (speed feedback filter time constant) to that
value.
4-8-9
P Control Switching (Position, Speed, Internally-set
Speed Control)
H
Functions
•
This function automatically switches the control method for the speed loop control from PI (proportion-
al integration) control to P (proportional) control.
•
Normally, control is sufficient using the speed loop gain and position loop gain set by auto-tuning. (So
normally there is no need to change the setting.)
•
Continual operation using PI control may cause switching to P control if the Servomotor speed over-
shoots or undershoots. (Switching to P control lowers the effective servo gain to stabilize the servo
system.) You can also reduce positioning time in this way.
Operation
Chapter 4
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