21
(acceleration)
e effect
When the speed command exceeds the acceleration set by this parameter, the speed loop will be switched to P control,
otherwise it will be PI control.
Pn135
Speed loop PI-P switching condition
(position deviation)
0~10000
0
Command unit
0x0135
Immediat
e effect
When the position deviation exceeds the value set by this parameter, the speed loop will be switched to P control,
otherwise it will be PI control.
Pn140
Medium frequency vibration
suppression control selection
0x00~0x11
0x0010
－
0x0140
Immediat
e effect
0x1#: automatically set up the medium frequency suppression frequency by 0x#1:, and set up the medium frequency
suppression frequency by intelligent setting and bandwidth setting.
0x0#: no intelligent setting or bandwidth setting is set automatically. Only 0x#0: can be set manually. If the frequency is
suppressed, the frequency will be invalid.
Pn142
Intermediate frequency suppressing
vibration frequency
1~3000
100.0
Hz
0x0142
Immediat
e effect
Set up intermediate frequency vibration suppression frequency.
Pn143
Intermediate frequency damping gain
0~300
0
%
0x0143
Immediat
e effect
Increasing this parameter can increase the vibration suppression effect, but setting up too large may increase the
vibration. When you confirm the vibration suppression effect, increase the set value gradually in 10% to 10% in the
range of 0% ~ 200%, stop the setting and reduce the control gain appropriately.
Pn150
Notch filter 1 automatic adjustment
selection
0x00~0x01
1
－
0x0150
Immediat
e effect
0- does not automatically adjust 1- through auxiliary functions, and automatically adjusts through auxiliary functions.
Pn151
Notch filter 2 automatic adjustment
selection
0x00~0x01
1
－
0x0151
Immediat
e effect
0- does not automatically adjust 1- through auxiliary functions, and automatically adjusts through auxiliary functions.
Functio
n code
Parameter name
Range
Default
value
Company
Postal
address
Effective
way
Pn152
Sensitivity of automatic notch
resonance detection
1~200
100
%
0x0152
Immediat
e effect
Used to set the sensitivity of automatic detection of resonance frequency. The smaller the set value, the more sensitive to
resonance, and the easier it is to detect vibration. Setting the value too small may cause incorrect resonance frequency
detection.
Pn153
Notch filter 1 frequency
50~5000
5000
Hz
0x0153
Immediat
e effect
The frequency of the second notch filter is set to suppress resonance. When the parameter is set to 5000, the function of
the notch filter is invalid.
Note: do not set the notch filter frequency as close to the response frequency of the speed loop, at least 4 times the gain of
the speed loop, otherwise it may affect the overall performance of the system.
Pn154
Notch filter 1q value
0.5~10
0.70
-
0x0154
Immediat
e effect
The Q value of the notch filter is that the relative notch filter frequency determines the set value of the filter frequency
width, and the width of the dent varies with the Q value of the notch filter. The larger the value of the notch filter Q, the