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Tuning

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ASDA-A3

5

5-2

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

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

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