6 Adjustment
115 SD780 Series Servo Technical Manual
Pn151
Notch filter 2
automatic
adjustment
selection
0x00
～
0x01
1
－
0x0151
Immediately
0- Automatic adjustment without auxiliary functions.
1- Automatic adjustment through auxiliary functions.
Pn231
Low frequency
vibration
suppression
function
automatic
adjustment
selection
0x00
～
0x01
1
－
0x0231
Immediately
This parameter is set in the intelligent settings, bandwidth settings and other auxiliary
functions under low-frequency vibration suppression is automatically set to choose:
0 - Vibration suppression function is not automatically adjusted by auxiliary functions.
1 - Vibration suppression function is automatically adjusted by auxiliary functions.
(2)
Feed forward function
In the factory setting mode, when excute tuning mode by “2” & “3”, “feedforward command
(Pn109)”, “speed feedforward (VREF) input”, and “torque feedforward (T-REF) input” will be invalid.
According to the system configuration, if you want to use “V-REF input”, “Torque feed forward (T-
REF) input”, and model tracking control from the host device at the same time, set Pn249 = 1.
6.5.4 Related Parameters
The relevant parameters and parameters that are automatically set when executing the bandwidth
setting function are as follows:
Parameter
Name
Pn100
Rotary inertia ratio
Pn101
First speed gain
Pn102
First speed integral time constant
Pn103
First position gain
Pn104
First torque command filter
Pn140
IF vibration suppression control selection
Pn141
IF vibration suppression inertia modification
Cautions
！
When using model tracking control with this function, the model tracking control sets the optimal
feedforward inside the servo. Therefore, the "velocity feedforward (V- REF) input" and "torque feedforward
(T- REF) input" from the upper unit are usually not used simultaneously. If the input feedforward is incorrect,
it may cause overshoot, but please note that it can be used as necessary.
