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[Pr. PB02_Vibration suppression control tuning mode (advanced
vibration suppression control II) (VRFT)]
Initial value
00000000h
[Pr. PB02.0_Vibration suppression control 1 - Tuning mode selection]
Initial value
0h
Select the tuning mode of the vibration suppression control 1.
0: Disabled
1: Automatic setting
2: Manual setting
[Pr. PB02.1_Vibration suppression control 2 - Tuning mode selection]
Initial value
0h
Select the tuning mode of the vibration suppression control 2. To enable the setting value, set [Pr. PA24.0 Vibration
suppression mode selection] to "1" (3 inertia mode).
0: Disabled
1: Automatic setting
2: Manual setting
[Pr. PB03_Torque feedback loop gain (TFBGN)]
Initial value
36000 [rad/s]
Set the torque feedback gain.
This function is enabled in the continuous operation to torque control mode.
Decreasing the setting value of this servo parameter reduces the collision load during pressing.
6 rad/s is set when the setting value is 6 rad/s or less.
[Pr. PB04_Feed forward gain (FFC)]
Initial value
0 [%]
Set the feed forward gain.
When "100" is set, the droop pulses are almost 0 in operation at the constant speed. If the super trace control is enabled, the
droop pulses are almost 0 in operation at uniform acceleration/deceleration, as well as at the constant speed. However, if
sudden acceleration/deceleration is performed, overshoot becomes large. When the feed forward gain is set to 100 %, set a
value not smaller than 1 s for the acceleration time constant until the rated speed is reached.
1 SERVO PARAMETER DETAILS
30
1.3 Gain/filter setting servo parameters group ([Pr. PB_ _ ])
Setting range
Refer to the relevant detail No.
Setting range
Refer to the text
Setting range
Refer to the text
Setting range
0 to 36000
Setting range
0 to 100
Setting method
Each axis
Ver.
C4
Ver.
C4
Setting method
Each axis
Setting method
Each axis
Ver.
Refer to the relevant detail No.
Ver.
C4
Ver.
C4
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