5-63
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in T
rouble
7
Supplement
Class No.
Title
Function
6
48
Adjust filter
Sets time constant of adjustment filter.
When the torque filter setting is changed, set the parameter
to a value close to real-time auto-tuning setting.
Fine adjustment by checking positional deviation of the
encoder near setting point may improve overshoot or
oscillatory waveform.
6
49
Adjust/
Torque command
attenuation term
Sets attenuation term of command filter and adjustment filter.
Decimal notation: 1st digit sets command filter and 2nd digit
sets adjustment filter.
Value of digit 0 to 4:
Without attenuation term (functions as 1st filter).
Value of digit 5 to 9:
The 2nd filter (attenuation term
ζ
is 1.0, 0.86, 0.71, 0.50
and 0.35, in that order).
<Example>
To set command filter
ζ
= 1.0, adjustment filter 1
ζ
= 0.71:
Setup value = 75 1st digit = 5 (
ζ
= 1.0), 2nd digit = 7 (
ζ
= 0.71)
Pr2.22 Command smoothing filter is applied as time
constant of command filter.
6
50
Viscous friction
compensation
gain
Adds the result of command speed multiplied by this
setup value to torque command as viscous friction torque
correction value. By setting the estimate value of viscous
friction coefficient of real-time auto-tuning, encoder positional
deviation near the setting point may be improved.
5. Manual Gain Tuning (Application)
Two-degree-of-freedom control mode (Position control mode)
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