CHAPTER 15 APPENDIXES

15

No.

Name

64 Position loop gain 2

Power

-

Control mode

Position Speed Torque

 -

-

Record of reference

value

65 Speed loop gain 2

-

  -

66 Speed loop integration time constant 2

-

  -

67 Feed forward gain 2

68

Acceleration compensation gain for

position control

70 Automatic notch filter selection

-

 -

-

-

 -

-

-

  -

71 Notch filter 1 frequency

-

  -

72 Notch filter 1 attenuation

-

  -

73 Notch filter 1 width

-

  -

74 Notch filter 2 frequency

-

  -

75 Notch filter 2 attenuation

-

  -

76 Notch filter 2 width

-

  -

77 Automatic vibration suppressing selection

-

 -

-

78

Vibration suppressing anti resonance

frequency 0

-

 -

-

Vibration suppressing workpiece inertia

79 ratio (vibration suppressing resonance

-

 -

-

frequency) 0

80

Vibration suppressing anti resonance

frequency 1

-

 -

-

Vibration suppressing workpiece inertia

81 ratio (vibration suppressing resonance

-

 -

-

frequency) 1

82

Vibration suppressing anti resonance

frequency 2

-

 -

-

Vibration suppressing workpiece inertia

83 ratio (vibration suppressing resonance

-

 -

-

frequency) 2

84

Vibration suppressing anti resonance

frequency 3

-

 -

-

Vibration suppressing workpiece inertia

85 ratio (vibration suppressing resonance

-

 -

-

frequency) 3

86 Vibration suppressing damping coefficient -

 -

-

87 Model torque filter time constant

-

  -

88 Position loop integration time constant

-

 -

-

89 Position loop integration limiter

-

 -

-

90 Load torque observer

-

  -

91 P/PI automatic change selection

-

  -

92 Speed range for friction compensation

-

93

Coulomb friction torque for friction

compensation

-

94 Torque filter setting mode

-

95

Model torque calculation selection, speed

observer selection

-

  -

  -

  -

  -

15-8 Parameter List