IAI Rcon, Инструкция по эксплуатации, Страница: 577 / 838

6.2 Various Functions
B6-70
ME0384-4A
St
art
up
Se
ctio
n
[Notch Filter Gain (Parameter No. 100, 104, 108)]
Set the notch filter gain following the table below in accordance with the measured natural
frequency of the load. Make fine adjustments if overshooting, etc. occurs.
If the notch filter gain setting is high, overshooting will occur during positioning stop.
If the notch filter gain setting is low, undershooting will occur during positioning stop.
Measured natural frequency
[Hz]
Notch filter gain set value
0.5 9,900
1 9,980
2 ~ 30 9,990
[Vibration Suppression No. Initial Value (Parameter No. 109)]
When position is written in an unregistered position table, the initial value of this parameter will
be automatically set in the "Vibration Suppression No.". To change the setting, rewrite the set
value by editing the position table afterwards.
0: Normal positioning control (initial value)
1: Use vibration damping control parameter set 1
2: Use vibration damping control parameter set 2
3: Use vibration damping control parameter set 3
[Stop Method during SrvOFF (Parameter No. 110)]
The relations between parameter setting and each stop command are as described below.
Stop command
Stop method during servo OFF Set value
0: Sudden stop 1: Decelerating stop
During
vibration
control
During normal
positioning
control
During
vibration
control
During normal
positioning
control
Pausing
Vibration control
decelerating
stop
Normal
decelerating
stop
Vibration control
decelerating
stop
Normal
decelerating
stop
Servo OFF
Sudden stop with
emergency stop torque
Drive-source cutoff
Alarm
(Operation cancel level)
Alarm
(Cold start)
Sudden stop with emergency stop torque