5-66
5
5. Manual Gain Tuning (Application)
Adjustment
Two-degree-of-freedom control mode (full-close control)
Related Parameter
Class No.
Title
Function
6
49
Command
response filter /
adjustment filter
damping term
setting
Sets the damping term of command response filter and
adjustment filter.
In the decimal number system, the first digit indicates the
command response filter setting and the second digit the
adjustment filter setting.
Target digits:
0-4: No damping term (operates as a primary filter).
5-9: Secondary filter (damping term
ζ
becomes 1.0, 0.86,
0.71, 0.50, and 0.35 in sequence).
However, when Pr 2.13 “Damping filter switching select” is
4 (when two of model type damping controls are valid), the
damping ratio is fixed to 1.0 when the secondary filter is
chosen.
Ex.) In the event that you want to have
ζ
= 1.0 for the
command response filter and
ζ
= 0.71 for the adjustment
filter 1, the setting value is 75 (5 for the first digit (
ζ
= 1.0)
and 7 for the second digit (
ζ
= 0.71)).
Pr 2.22 “Command smoothing filter” is applied for the time
constant of command response filter,
6
50
Viscosity friction
compensation
gain
Adds the result of multiplying the command speed by this
setting to the torque command as the viscous friction torque
compensation value. Setting the estimated value of viscous
friction coefficient of real time auto-tuning may sometimes
improve the encoder position deviation near the steady state.
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