5.2Manual adjusting function
Class No. Attribute Title
6
48
B
6
49
B
6
50
B
5-59
Range
Adjust filter
0 to 2000 0.1ms
Command / tuning
0 to 99
filter damping
Viscous friction
0 to
compensation gain
10000
Unit
Function
Set the time constant for the adjust filter.
When the torque filter setting has been changed, set a value
close to the real-time auto-tuning setting.
As a result of fine-tuning while checking the encoder position
deviation near the setting, overshoot and oscillatory waveforms
may be improved.
The attenuation term is set by Pr6.49 "Adjust/Torque command
attenuation term".
-
Set the attenuation term for the command filter and adjust filter.
A decimal number indication is used. The first digit sets the
command filter and the second digit sets the adjust filter.
<Each target digit of the set value>
0 to 4: No attenuation term (operated as primary filter)
5 to 9: Secondary filter (Attenuation terms, ζ will be 1.0, 0.86,
0.71, 0.50, and 0.35 in order.)
<Setting an example of this parameter>
To set the command filter to ζ=1.0 and adjust filter 1 to ζ=0.71,
the setting value should be 75 (first digit=5 (ζ=1.0), second
digit=7 (ζ=0.71)).
For the time constant of the command filter, Pr2.22 "Command
smoothing filter" will be applied.
0.1 %/
Add the result of multiplying the command velocity by this setting
(10000r/
value to the torque command as the correction amount of the
min)
viscous friction torque.
The encoder position deviation near the setting may be
improved by setting the viscous friction factor estimation for
Real-time auto tuning.