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16. FULLY CLOSED LOOP SYSTEM
(6) Setting of fully closed loop dual feedback filter
With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual
feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While
observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the
dual feedback filter.
The dual feedback filter operates as described below depending on the setting.
Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration
since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting
of the dual feedback filter should be less than half of the PG2 setting.
Reduction of settling time: Increase the dual feedback filter setting.
Suppression of vibration: Decrease the dual feedback filter setting.
[Pr. PE08] setting
0
1
to
4499
4500
Command
Droop pulses
Command
Control mode
Semi closed loop
Not frequently occurs
Dual feedback
Frequently occurs
Fully closed loop
Droop pulses
Time
Time
16 - 13
Vibration
Settling time
Long time
to
to
Short time
Droop pulses
Command
Droop pulses
Command
Time
Time
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