Attribute
Class No.
Title
(Note 1)
6
48
B
Adjust filter
6
49
B
Command / tuning
filter damping
6
50
B
Viscous friction
compensation gain
Range
Unit
Function
0 to 2000
0.1 ms
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".
0 to 99
-
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>
<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 to 10000
0.1%/
Add the result of multiplying the command velocity by this
(10000r/
setting value to the torque command as the correction
min)
amount of the 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.
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.)
Auto Tuning Functions
5-64