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5. PARAMETERS
No./
Setting
symbol/name
digit
PB09
Set the gain of the speed loop.
VG2
Set this parameter when vibration occurs on machines of low rigidity or with large
backlash. Increasing the setting value will also increase the response level but will
Speed loop
be liable to generate vibration and noise.
gain
The setting of this parameter will be automatic or manual depending on the setting of
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.
Setting range: 20 to 65535
PB10
Set the integral time constant of the speed loop.
VIC
Decreasing the setting value will increase the response level but will be liable to
generate vibration and noise.
Speed
integral
The setting of this parameter will be automatic or manual depending on the setting of
compensation
[Pr. PA08]. Refer to the table of [Pr. PB08] for details.
Setting range: 0.1 to 1000.0
PB11
Set the differential compensation.
VDC
To enable the parameter at all times, select "Continuous PID control enabled (_ _ 3
_)" of "PI-PID switching control selection" in [Pr. PB24].
Speed
differential
To enable it, turn on PC (Proportional control) or PID switching signal (C_PC) from
compensation
controller.
Setting range: 0 to 1000
PB12
Set a percentage of viscous friction torque against the servo motor rated value or
thrust against the linear servo motor rated value.
OVA
When the response level is low or when the torque/thrust is limited, the efficiency of
Overshoot
the parameter may be lower.
amount
compensation
Setting range: 0 to 100
PB13
Set the notch frequency of the machine resonance suppression filter 1.
NH1
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr.
PB01], this parameter will be adjusted automatically by adaptive tuning.
Machine
resonance
When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01],
suppression
the setting value will be enabled.
filter 1
Setting range: 10 to 4500
PB14
Set forms of the machine resonance suppression filter 1.
NHQ1
When "Filter tuning mode selection" is set to "Automatic setting (_ _ _ 1)" in [Pr. PB01], this parameter
will be adjusted automatically by adaptive tuning.
Notch shape
selection 1
When "Filter tuning mode selection" is set to "Manual setting (_ _ _ 2)" in [Pr. PB01], the setting value
will be enabled.
_ _ _ x For manufacturer setting
_ _ x _ Notch depth selection
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
_ x _ _ Notch width selection
0: α = 2
1: α = 3
2: α = 4
3: α = 5
x _ _ _ For manufacturer setting
PB15
Set the notch frequency of the machine resonance suppression filter 2.
NH2
To enable the setting value, select "Enabled (_ _ _ 1)" of "Machine resonance
suppression filter 2 selection" in [Pr. PB16].
Machine
resonance
suppression
Setting range: 10 to 4500
filter 2
Function
5 - 30
Initial
Network
value
ECT EIP
[unit]
823
[rad/s]
33.7
[ms]
980
0
[%]
4500
[Hz]
0h
0h
0h
0h
4500
[Hz]
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