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11 - 9
11 Adjustment Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11
-3
Adv
anced T
uning
11
11
-3-
1 Objects
T
hat
A
re Set
11-3 Advanced Tuning
This function uses simulation to adjust the gain and filter settings. Repeating actual Servomotor opera-
tion is not necessary, and a fine adjustment is possible in a short period of time.
This section gives the objects that are set when the advanced tuning is executed.
The advanced tuning adjusts the values of the following objects.
11-3-1 Objects That Are Set
Objects That Are Adjusted with Advanced Tuning
Index (hex)
Subindex
(hex)
Name
Reference
3011
---
Position Command Filter
03
IIR Filter Enable
04
IIR Filter Cutoff Frequency
3112
---
ODF Velocity Feed-forward
01
Gain
02
LPF Enable
03
LPF Cutoff Frequency
3113
---
ODF Torque Feed-forward
01
Gain
02
LPF Enable
03
LPF Cutoff Frequency
3120
---
TDF Position Control
01
Command Following Gain
3121
---
TDF Velocity Control
01
Command Following Gain
3213
---
1st Position Control Gain
01
Proportional Gain
3223
---
1st Velocity Control Gain
01
Proportional Gain
02
Integral Gain
3233
---
1st Torque Command Filter
01
Enable
02
Cutoff Frequency
3321
---
1st Notch Filter
01
Enable
02
Frequency
03
Q-value
04
Depth
3322
---
2nd Notch Filter
01
Enable
02
Frequency
03
Q-value
04
Depth
Summary of Contents for R88D-1SN ECT Series
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