6 Adjustment
111 SD780 Series Servo Technical Manual
selected, the mode switch function becomes invalid during the moment of inertia
identification and becomes PI control. The mode switch function becomes valid again
after the rotary inertia identification is completed
When speed feed forward and torque feed forward are input
When the positioning complete width (Pn262) is small
6.4.3 Supplement
1)
Vibration suppression function
Before the intelligent setting, you can set whether the related vibration suppression function is
automatically set. The factory default is automatically set, please set the corresponding function
switch to “Do not adjust automatically” before you want to change the value of the intelligent
setting.
Function
code
Parameter
Range
Default
Unit
Communication
address
When
enabled
Pn140
IF
suppression
control
options
0x00
～
0x11
0x0010
－
0x0140
Immediately
The IF (intermediate frequency) suppression control function can effectively
suppress the continuous vibration of about 100Hz
～
1000 Hz that occurs
when the control gain is increased.
0x1#: Automatically set IF vibration suppression frequency through intelligent
setting and bandwidth setting.
0x0#: Not set automatically through intelligent setting and bandwidth setting, only
manual setting.
0x#1: IF suppression frequency setting is valid.
0x#0: IF suppression frequency setting is invalid.
Pn150
Notch filter 1
automatic
adjustment
selection
0x00
～
0x01
1
－
0x0150
Immediately
0- Automatic adjustment without auxiliary functions.
1- Automatic adjustment through auxiliary functions.
Pn151
Notch filter 2
automatic
adjustment
selection
0x00
～
0x01
1
－
0x0151
Immediately
Cautions
！
1. When there is no command for intelligent setting, please change the adjustment mode and adjust with
bandwidth setting or robust control when the adjustment fails for variable inertia load.
2. For intelligent setting, please set "Electronic gear ratio (Pn204/Pn206)" and "Positioning completion range
(Pn262)" are set to the actual operating values. Otherwise, the adjustment may fail or the adjustment result
may not match the actual operation result.
