4-78
Note
Related page
• A parameter is designated as follows:
Pr0.00 Parameter No.
Class
• For parameters which No. have a suffix of “
*
”
, changed contents will be validated when
you turn on the control power.
• P.3-32... “Inputs and outputs on connector X4”
Default: [ ]
Pr6.47
＊
Function expansion settings 2
Range
Unit
Default
Related
control mode
−32768 to 32767
—
1
P S T F
Set up the function in unit of bit.
Function
Setup value
0
1
bit 0
Two-degree-of-freedom control mode
Invalid
Valid
bit 1
Not used
Fixed to 0
bit 2
Encoder/external scale communication
error judgment setting
Compatible with
previous setting
Relax error/
alarm judgment.
bit 3
Auto tuning selection
＊
1
Standard type
Synchronous type
bit 4 to 7
Not used
Fixed to 0
bit 8
For manufacturer's use
Fixed to 0
bit 9 to 10
Not used
Fixed to 0
bit 11
Immediate stop alarm extension
Invalid
Valid
bit 12 to 13 Manufacturer use
Fixed to 0
bit 14
Quadrant projection suppression function
Invalid
Valid
bit 15
Not used Fix at 0.
Fixed to 0
* The least significant bit is considered as bit0.
*Regarding bit3 (two-degree-of-freedom control real-time auto tuning selection), the function
is available only when bit0 is set to 1: Enabled.
*
1 For details of the type, refer to P.5-10 Real time auto tuning (two-degree-of-freedom control, standard
type) and P.5-17 Real time auto tuning (two-degree-of-freedom control, synchronous type).
Pr6.48
Adjust filter
Range
Unit
Default
Related
control mode
0 to 2000
0.1 ms
Size A:11
Size B,C:12
Size D,E,F:17
P S
F
Set time constant of adjustment filter for two-degree-of-freedom control (position and speed).
Pr6.49
Adjust/Torque command attenuation term
Range
Unit
Default
Related
control mode
0 to 99
—
15
P
F
Set attenuation term of the command filter and adjustment filter for two-degree-of-freedom
control (position and speed).
Decimal notation: 1st digit sets command filter and 2nd digit sets adjustment filter.
value of digit
Content
0 to 4
Without attenuation term (functions as 1st filter).
5 to 9
The 2nd filter (attenuation term ζ is 1.0, 0.86, 0.71, 0.50 and 0.35, in that order).
But,when Pr2.13(Selection of damping filter switching) is set up 4,The 2nd filter
attenuation
term fixxed 1.0.
Example: To set command filter ζ = 1.0, adjustment filter 1 _ = 0.71:
Setup value = 75 1st digit = 5 (ζ = 1.0), 2nd digit = 7 (ζ = 0.71)
Pr2.22 Command smoothing filter is applied as time constant of command filter.
1. Details of parameter
[Class 6] Special setting
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