22
more severe the dent is, and the narrower the width of the filter frequency is.
Pn155
Notch filter 1 depth
0~1
0.000
-
0x0155
Immediat
e effect
The depth of the notch filter is defined as the set point of the relative notch filter frequency, which determines the depth
of the filtering frequency. The depth of the dent varies with the depth of the notch filter. The smaller the depth of the
notch filter, the deeper the dent, the higher the vibration suppression effect.
Pn156
Notch filter 2 frequency
50~5000
5000
Hz
0x0156
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.
Pn157
Notch filter 2q value
0.5~10
0.70
-
0x0157
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
more severe the dent is, and the narrower the width of the filter frequency is.
Pn158
Notch filter 2 depth
0~1
0.000
-
0x0158
Immediat
e effect
Notch filter depth refers to the relative notch filter frequency, which determines the setting value of the filter frequency
depth. The depth of the dent varies with the depth of the notch filter. The smaller the depth of the notch filter, the deeper
the dent, the higher the vibration suppression effect, but the smaller the vibration will increase the vibration.
Pn160
Disturbance compensation function
selection
0x00~0x01
0
－
0x0160
Immediat
e effect
Set up disturbance compensation function switch: 0- does not use 1-.
Pn161
Cut-off frequency of disturbance
observer
1~1000
150.0
Hz
0x0161
Immediat
e effect
Setting disturbance compensation gain can increase the effect of suppressing disturbance, but excessive noise will
increase.
Pn163
Disturbance compensation coefficient
0~100
0
%
0x0163
Immediat
e effect
Set the disturbance compensation coefficient, set the received position instruction or speed instruction, and add the
disturbance torque compensation value to the torque command.
Pn165
Inertia correction coefficient of
disturbance observer
1~1000
100
%
0x0165
Immediat
e effect
The inertia of disturbance observer is set up by this parameter to adjust the identification error caused by inaccuracy of
inertia settings.
Note: when the inertia ratio is set correctly, the value is set to 100.
Pn166
Speed observer switch
0~1
0
0x0166
Power
failure
effective
Set speed observation function switch: 0- invalid 1- effective
Pn167
Cut-off frequency of speed observer
1~500
80
Hz
0x0167
Immediat
e effect
By setting the speed observer bandwidth by this parameter, increasing the set value will increase the response speed of
the speed feeDBack value to track the real speed, and it will cause vibration and noise if it is too large.