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9 Servo Parameter Objects
9-46
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
•
Set the compensation gain for the disturbance force.
Refer to
11-8 Disturbance Observer Function
•
Set the filter time constant for disturbance force compensation.
Refer to
11-8 Disturbance Observer Function
•
Set the speed to estimate the load characteristic while the realtime autotuning is enabled.
•
The higher the set value is, the earlier the load characteristic change is followed, but the estimated
variation against the disturbance becomes greater.
•
The estimated results is updated in every 30 minutes and saved in EEPEOM.
Explanation of Settings
Refer to
on page 11-7 for details of realtime autotuning settings.
3623 hex
Disturbance Force Compensation Gain
Setting range
100 to 100
Unit
%
Default setting
0
Data attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible.
3624 hex
Disturbance Observer Filter Setting
Setting range
10 to 2500
Unit
0.01 ms
Default setting
53
Data attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible.
3631 hex
Realtime Autotuning Estimated Speed Selection
Setting range
0 to 3
Unit
Default setting
0
Data attribute
B
Size
2 bytes (INT16)
Access
RW
PDO map
Not possible.
Set value
Mode
Description
0
No change
Stops load estimation.
1
Little change
Estimates every minute from the load characteristic changes.
2
Gradual change
Estimates every second from the load characteristic changes.
3
Sharp change
Estimates the optimum from the load characteristic changes.
csp
csp
All