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[Connections and Settings in Torque Control Mode]
Connections and Settings in
Torque Control Mode
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
27 0 –255 –Disturbance
torque observer
filter selection
• Cut-off frequency of the filter for disturbance torque observer is set.
Set value
[0]*
1 – 255
Cutoff Frequency
Disturbance Observer Disabled
Enabled, filter cutoff frequency [Hz] = 3.7 x setting
28
100
–
1500
[1500]
Hz2nd notch
frequency
• Defines the notch frequency of the second resonance suppression notch
filter.
• The unit is [Hz]. Match the notch frequency with the machine's reso
-
nance frequency.
100 to 1499: Filter enabled 1500: Filter disabled
29 0 – 4
[2]
–2nd notch width
selection
• Select the notch width of the second resonance suppression notch filter.
• Increasing the set value enlarges the notch width.
2A 0 – 99
[0]
–2nd notch depth
selection
• Select the notch depth of the second resonance suppression notch filter.
• Increasing the set value reduces the notch depth and the phase delay.
Parameter
No.
Setting
range
Parameter Name Unit Function/Description
Default setting is shown by [
]
A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
and the disturbance observer is disabled.
2F
0
–
64
[0]*
–Adaptive filter
frequency
• Table No. corresponding to the frequency of the applied filter is dis
-
played. (See page 196)
• When the applied filter is enabled (when Pr21 (real time auto tuning
mode setting) is 1-3,7), this parameter is set automatically and can no
t
be altered.
0: Filter disabled 1 - 64: Filter enabled
Before using this function, see page 196 “Disabling of auto tuning func
-
tion” in adjustments.
• When the applied filter is enabled, the parameter is stored in the EE
-
PROM every 30 minutes. And when the applied filter is enabled at turn
-
ing ON the power next time, the data stored in the EEPROM is used as
the initial value to adapt the operation.
• When clearing the parameter to reset the adapted operation due to un
-
satisfactory operation, once set the applied filter disabled (set Pr21 (rea
l
time auto tuning mode setting) to other than 1 - 3, 7), and make it en
-
abled again.
•
Refer to “Control of Vibration Damping” of Adjustment volume on page 211.