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5.7.4.2 Function description············································································5-56
5.7.4.3 Application example············································································5-58
5.7.5 Model-controlled vibration suppression filter ···················································5-59
5.7.5.1 Restrictions of the two degree of freedom control function···························5-59
5.7.5.2 Function description of two degree of freedom control function·····················5-60
5.7.5.3 Application example of two degree of freedom control function·····················5-61
5.7.5.4 Restrictions of vibration elimination ························································5-62
5.7.5.5 Function description of vibration elimination ·············································5-62
5.7.5.6 Application example of vibration elimination ·············································5-63
5.7.6 Position command filter ·············································································5-64
5.7.6.1 Function restriction ·············································································5-64
5.7.6.2 Function description············································································5-64
5.7.6.3 Application example············································································5-65
5.7.7 Speed command filter ···············································································5-66
5.7.7.1 Function restriction ·············································································5-66
5.7.7.2 Function description············································································5-66
5.7.7.3 Application example············································································5-66
5.7.8 Torque command filter···············································································5-67
5.7.8.1 Function restriction ·············································································5-67
5.7.8.2 Function description············································································5-67
5.7.8.3 Application example············································································5-67
5.8 Application function adjustment ·········································································5-68
5.8.1 Adjusting position error in constant speed zone ··············································5-68
5.8.1.1 Function restriction ·············································································5-68
5.8.1.2 Function description············································································5-68
5.8.1.3 Application example············································································5-69
5.8.2 Position overshoot adjustment ····································································5-70
5.8.2.1 Function restriction ·············································································5-70
5.8.2.2 Function description············································································5-70
5.8.2.3 Application example············································································5-70
5.8.3 Multi-axis contour control ···········································································5-71
5.8.3.1 Function restriction ·············································································5-71
5.8.3.2 Function description············································································5-71
5.8.3.3 Application example············································································5-73
5.8.4 Gain switching ·························································································5-75
5.8.4.1 Function restriction ·············································································5-75
5.8.4.2 Function description············································································5-75
5.8.4.3 Application example············································································5-75
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