6 Adjustment
106 SD780 Series Servo Technical Manual
Function
code
Parameter
Range
Default
Unit
Communication
address
When
enabled
Pn175
Robust control
selection
0x00
～
0x01
1
－
0x0175
After restart
Set the robust control function switch:
0-invalid 1-valid
Pn177
Robust control
tuning value
10
～
80
40.0
Hz
0x0177
Immediately
Set a greater robust control gain tuning value, systematic response gets faster, but
system overshoot and excessive noise may occur.
Pn178
The minimum
value of robust
control
0
～
500
0
%
0x0178
Immediately
Set a greater load ratio of robust control, systematic response gets faster, but the
systematic excessive noise may occur, and we could increase this value in order to
decrease the over-adjustment and overshoot when torque is excessive.
Robust control function is valid in position control or speed control and invalid in torque control.
When robust control is valid, some of the control functions of below table would be restrained.
Function name
Operation
Executable conditions and notes
Vibration detection value
initialization (Fn105)
Yes
Robust control is invalid in operation, and it
turns to be valid when the operation is over.
Bandwidth setting (Fn303)
No
EasyFFT
（
Fn401
）
Yes
Robust control is invalid in operation, and it
turns to be valid when the operation is over.
Gain shift
No
Inertia recognition
Yes
Robust control is invalid in operation, and it
turns to be valid when the operation is over.
Mechanical analysis
Yes
Robust control is invalid in operation, and it
turns to be valid when the operation is over.
Which parameters become invalid when robust control function are valid.
When we set robust control function valid in factory default, the Pn100, Pn101, Pn102, Pn103,
Pn105, Pn106, Pn107, Pn140, Pn110, Pn170 are invalid.
6.2.2 Operating procedure
Robust control function could be set via the auxiliary function Fn301 on panel operator and more
details on “Auxiliary function”, or we could set relevant parameters via “parameters setting”.
Cautions
！
Before operating the robust control function, please confirm the setting below, if not, it will display /NO- OP
in operation:
1. Robust control function is valid (Pn175=1).
2. No motor debugging function is invalid (Pn730=0).