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5.4.3.1 Rotary motor ·····················································································5-20

5.4.3.2 Linear motor ·····················································································5-21

5.4.4 Auto tuning with ASDA-Soft ········································································5-22

5.4.5 Parameters related to auto tuning ································································5-29

5.4.5.1 Automatic gain adjustment level 1 (P2.105) - stiffness adjustment·················5-29

5.4.5.2 Automatic gain adjustment level 2 (P2.106) - response adjustment ···············5-30

5.4.6 Alarms related to auto tuning ······································································5-31

5.5 Gain adjustment modes ···················································································5-32

5.5.1 Differences between gain adjustment modes··················································5-32

5.5.2 Flowchart of gain adjustment mode ······························································5-34

5.5.3 Gain adjustment mode 1 ············································································5-35

5.5.4 Gain adjustment mode 2 ············································································5-35

5.5.5 Gain adjustment mode 3 ············································································5-36

5.5.6 Gain adjustment mode 4 ············································································5-37

5.5.7 Gain adjustment mode 5 ············································································5-38

5.5.8 Gain adjustment mode 6 ············································································5-38

5.5.9 Parameters related to gain adjustment modes ················································5-39

5.5.9.1 Bandwidth response level (P2.031) - stiffness adjustment ···························5-39

5.5.9.2 Command response gain (P2.089) - response adjustment ··························5-40

5.5.9.3 Bandwidth for speed loop response (P2.126) - bandwidth adjustment············5-40

5.6 Manual tuning of gain parameters ······································································5-41

5.6.1 Flowchart of manual tuning in Speed mode····················································5-43

5.6.2 Flowchart of manual tuning in Position mode··················································5-44

5.6.3 Manual tuning with ASDA-Soft ····································································5-45

5.7 Mechanical resonance suppression and noise elimination ·······································5-46

5.7.1 Notch filter ······························································································5-47

5.7.1.1 Function restriction ·············································································5-47

5.7.1.2 Function description············································································5-47

5.7.1.3 Parameter descriptions········································································5-48

5.7.1.4 Application example············································································5-50

5.7.2 Resonance suppression low-pass filter ·························································5-53

5.7.2.1 Function restriction ·············································································5-53

5.7.2.2 Function description············································································5-53

5.7.2.3 Application example············································································5-53

5.7.3 Speed detection filter ················································································5-54

5.7.3.1 Function restriction ·············································································5-54

5.7.3.2 Function description············································································5-54

5.7.3.3 Application example············································································5-55

5.7.4 Low-frequency vibration suppression filter ·····················································5-56

5.7.4.1 Function restriction ·············································································5-56

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