10 Function Code Instructions
216 SD780 Series Servo Technical Manual
(straight line)
(acceleration)
Pn140
IF suppression control
options
0x00
～
0x11
0x0010
－
0x0140
Immediately
The IF suppression control function effectively suppresses the continuous vibration of about 100 to
1000 Hz that occurs when the control gain is increased.
0x1#: Automatic setting of IF suppression frequency through intelligent setting and bandwidth setting.
0x0#: Not set by intelligent setting, bandwidth setting, only manual setting.
0x#1: IF suppression frequency setting is valid.
0x#0: IF suppression frequency setting is invalid.
Pn141
Inertial modification of
IF vibration
suppression
1
～
1000
100
%
0x0141
Immediately
Pn142
IF suppression
frequency
1
～
3000
100.0
Hz
0x0142
Immediately
Set IF vibration frequency value.
Pn143
IF vibration
suppression
attenuation gain
0
～
300
0
%
0x0143
Immediately
Increasing this parameter can increase the vibration suppression effect. However, if the setting is too
large, the vibration may be increased. When confirming the vibration suppression effect, simultaneously
gradually increase the setting value by each 10% in the range of 0% to 200%. If the vibration
suppression effect is still not achieved after reaching 200%, please stop the setting and reduce the
control gain appropriately.
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
0 - Automatic adjustment without auxiliary functions.
1 - Automatic adjustment through auxiliary functions.
Pn152
Automatic notch
resonance detection
sensitivity
1
～
200
100
%
0x0152
Immediately
It’s used to set the sensitivity for automatically detecting the resonant frequency. The smaller the value
is set, the more sensitive it will be for resonance, the easier it is to detect vibration, and the smaller it is,
the more likely it is to falsely detect the resonance frequency.
Pn153
Notch
filter
1
frequency
50
～
5000
5000
Hz
0x0153
Immediately
Set the frequency of the first notch filter that suppresses resonance. When this parameter is set to
5000, the function of the notch filter is invalid.
Note: Do not set the notch filter frequency close to the response frequency of the speed loop. At least
this frequency should be set to more than 4 times of the speed loop gain, otherwise it may affect the
overall performance of the system.
Pn154
Notch filter 1Q value
0.5
～
10
0.70
-
0x0154
Immediately
The Q value of the notch filter refers to the setting value of the filter frequency width related to the notch
filter frequency. The width of the recess varies with the Q value of the notch filter, and the larger the Q
value of the notch filter is set,the more sunk and the narrower the width of the filter frequency will be.
Pn155
Notch filter 1 depth
0
～
1
0.000
-
0x0155
Immediately
The notch filter depth refers to the setting of the filter frequency depth related to the notch filter
frequency. The depth of the recess varies with the depth of the notch filter.
