appendix1‑6
25
First lag compensation frequency #2
This parameter is used for tuning against resonance.
Specifies the higher range frequency of the first lag compensation filter. Filter becomes valid by
enabling the first lag compensator through system register 2.
21
1000
1000
Min:
Max:
Initial:
Unit:
LagFreq2
Dec
26
Velocity command filter bandwidth
Specifies the filtering bandwidth for velocity command value. Velocity command filter can not be
disabled. This parameter is alway enabled.
50
1000
1000
Min:
Max:
Initial:
Unit:
Hz
VcmdFilFrq
Dec
27
Velocity feedback filter bandwidth
This parameter is used for tuning against resonance.
Specifies filtering bandwidth for velocity information fed back to the velocity control section.
Filter is activated by enabling the velocity feedback filter in system register 2.
50
1000
1000
Min:
Max:
Initial:
Unit:
Hz
VfbFilFreq
Dec
28
Actual position value filter frequency
Specifies the frequency of the actual position value filter. Filter becomes valid by enabling the
current position value filter through system register 2.
The filtered actual position value is not fed back to the position control section of the servo loop.
1
200
depend on motor.driver type
Min:
Max:
Initial:
Unit:
Hz
Initial value: 200Hz
PfbFilFreq
Dec
29
Cycle count for coin signal activation
Specifies the nuber of system cycles executed (counted) before the coin signal goes active (1 system
cycle=1msec). The coin signal is activated if the absolute value of the position error is less than
or equal to the coin window value for the specified number of system cycles. The coin signal will be
deactivated immediately if the position error value exceeds the coin window value.
1
100
1
Min:
Max:
Initial:
Unit:
COIN̲Cycle
Dec
TI 71M01D06‑01E 2nd Edition : 2007.01.10‑00