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Appendices
A - 6
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The relationships between the modes of operation of G5-series Servo Drives with built-in EtherCAT
communications and the application functions are shown below.
3
: Supported, –: Not supported
*1 When one adaptive filter is enabled, notch 3 is set automatically. When two adaptive filters are enabled, notch
3 and notch 4 are set automatically.
*2 When realtime autotuning is enabled, you cannot use the force feed-forward function. (They are in an
exclusive relationship.)
*3 The FIR filter is enabled only in pp, hm, and csp mode when the communications cycle is set to 1 ms or above.
*4 When realtime autotuning is enabled, the instantaneous speed observer and disturbance observer are
automatically disabled.
*5 Realtime autotuning must be disabled to enable the instantaneous speed observer.
When the instantaneous speed observer is enabled, the disturbance observer is automatically disabled.
*6 Realtime autotuning and the instantaneous speed observer must be disabled to enable the disturbance
observer.
A-1-4 Modes of Operation and Applied Functions
Function
Modes of operation
csp, pp, hm csv cst
Notch filter (notch 1 to notch 4)
*1
3 3 3
Damping filter
3
– –
Speed feed–forward
3
– –
Force feed–forward function
*2
3 3
–
Position command FIR filter
*3
3
– –
Position command smoothing filter
3
– –
Realtime autotuning
*4
3 3 3
Instantaneous speed observer
*5
3 3
–
Disturbance observer
*6
3 3
–