Gain/Filter Setting - Mitsubishi Electric FATEC MELSEC iQ-R Training Manual

4.8.2

Gain/filter setting

(The device cannot be changed while the programmable controllers is in the ready state.)
Parameters
Adaptive tuning mode
[PB01]
(adaptive filter II)
Vibration suppression
control tuning mode
[PB02]
(advanced vibration
suppression control II)
[PB03] Torque feedback loop gain
[PB04] Feed forward gain
Load to motor inertia ratio/load to motor mass
[PB06]
ratio
[PB07] Model loop gain
[PB08] Position loop gain
[PB09] Speed loop gain
[PB10] Speed integral compensation
[PB11] Speed differential compensation
[PB12] Overshoot amount compensation
[PB13] Machine resonance suppression filter 1
[PB14] Notch shape selection 1
[PB15] Machine resonance suppression filter 2
[PB16] Notch shape selection 2
Shaft resonance
[PB17]
suppression filter
[PB18] Low-pass filter setting
Item
Vibration suppression
control 1 tuning mode
selection
Vibration suppression
control 2 tuning mode
selection
Notch depth selection
Notch width selection
Machine resonance
suppression filter 2
selection
Notch depth selection
Notch width selection
Shaft resonance
suppression filter setting
frequency selection
Notch depth selection
4-42
Setting range
0: Disable
1: Automatic setting
2: Manual setting
0: Disable
1: Automatic setting
2: Manual setting
0: Disable
1: Automatic setting
2: Manual setting
0 to 18000 [rad/s]
0 to 100 [%]
0.00 to 300.00 [Multiplier]
1.0 to 2000.0 [rad/s]
1.0 to 2000.0 [rad/s]
20 to 65535 [rad/s]
0.1 to 1000.0 [ms]
0 to 1000
0 to 100 [%]
10 to 4500 [Hz]
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
10 to 4500 [Hz]
0: Disable
1: Enable
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
0: α = 2
1: α = 3
2: α = 4
3: α = 5
Setting of shaft resonance
suppression filter
0: -40 dB
1: -14 dB
2: -8 dB
3: -4 dB
100 to 18000 [rad/s]
Default
value
0
0
0
18000
0
7.00
15.0
37.0
823
33.7
980
0
4500
0
0
4500
0
0
0
00
0
3141