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11 - 9
11 Adjustment Functions
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11
-3
Adv
anced T
uning
11
11
-3-
1 Objects
T
hat
A
re Set
11-3 Advanced Tuning
This function uses simulation to adjust the gain and filter settings. Repeating actual Servomotor opera-
tion is not necessary, and a fine adjustment is possible in a short period of time.
This section gives the objects that are set when the advanced tuning is executed.
The advanced tuning adjusts the values of the following objects.
11-3-1 Objects That Are Set
Objects That Are Adjusted with Advanced Tuning
Index (hex)
Subindex
(hex)
Name Reference
3011 --- Position Command Filter P. 9-17
03 IIR Filter Enable P. 9-17
04 IIR Filter Cutoff Frequency P. 9-17
3112 --- ODF Velocity Feed-forward P. 9-28
01 Gain P. 9-28
02 LPF Enable P. 9-28
03 LPF Cutoff Frequency P. 9-28
3113 --- ODF Torque Feed-forward P. 9-29
01 Gain P. 9-29
02 LPF Enable P. 9-30
03 LPF Cutoff Frequency P. 9-30
3120 --- TDF Position Control P. 9-30
01 Command Following Gain P. 9-30
3121 --- TDF Velocity Control P. 9-31
01 Command Following Gain P. 9-31
3213 --- 1st Position Control Gain P. 9-35
01 Proportional Gain P. 9-35
3223 --- 1st Velocity Control Gain P. 9-38
01 Proportional Gain P. 9-38
02 Integral Gain P. 9-38
3233 --- 1st Torque Command Filter P. 9-41
01 Enable P. 9-41
02 Cutoff Frequency P. 9-41
3321 --- 1st Notch Filter P. 9-46
01 Enable P. 9-46
02 Frequency P. 9-46
03 Q-value P. 9-46
04 Depth P. 9-47
3322 --- 2nd Notch Filter P. 9-48
01 Enable P. 9-48
02 Frequency P. 9-48
03 Q-value P. 9-48
04 Depth P. 9-49