5-1
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
5
. Adjustment
1. Gain Adjustment
Outline ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning
Basic ...........................................................................................................5-4
Two-degree-of-freedom control mode Standard type .............................5-11
Two-degree-of-freedom control mode Synchronous type ......................5-19
3. Adaptive filter
Adaptive filter
............................................................................................5-27
4. Manual Gain Tuning (Basic)
Outline ......................................................................................................5-30
Adjustment in Position Control Mode ........................................................5-31
Adjustment in Velocity Control Mode ........................................................5-32
Adjustment in Torque Control Mode .........................................................5-32
Adjustment in Full-Closed Control Mode ..................................................5-33
Gain Switching Function ...........................................................................5-34
Suppression of Machine Resonance ........................................................5-37
5. Manual Gain Tuning (Application)
Damping Control .......................................................................................5-41
Model-type damping filter .........................................................................5-43
Feed forward function ...............................................................................5-47
Load variation suppression function ..........................................................5-50
3rd gain switching function .......................................................................5-53
Friction torque compensation ...................................................................5-55
Inertia ratio switching function ..................................................................5-57
Hybrid vibration damping function ............................................................5-59
Quadrant projection suppression function .................................................5-60
Two-degree-of-freedom control mode (Position control) ..........................5-62
Two-degree-of-freedom control mode (Velocity control) ..........................5-64
Two-degree-of-freedom control mode (full-close control) .........................5-65
Two-stage torque filter
..............................................................................5-67
6. About Homing Operation
Caution on Homing Operation ..................................................................5-69
Homing with Hit & Stop .............................................................................5-70
Press & Hold Control ................................................................................5-71
7. Applied functions
Position compare output function .............................................................5-72
Infinite rotation absolute function
..............................................................5-77
Deterioration diagnosis warning functionl .................................................5-78
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