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11. PARAMETERS
(2) Menu B) Gain filter settings
Parameter
No.
MR-J4-B
Parameter
No.
Symbol Name Initial Value Units
1140 PB01 FILT Adaptive tuning mode (adaptive filter ) 0000h
1141 PB02 VRFT Vibration suppression control tuning mode
(advanced vibration suppression control
)
0000h
1142 PB03 TFBGN Torque feedback loop gain 18000 rad/s
1143 PB04 FFC Feed forward gain 0 %
1144 PB05 For manufacturer setting 500
1145 PB06 GD2 Load to motor inertia ratio/load to motor mass ratio 700 0.01 times
1146 PB07 PG1 Model loop gain 150 0.1 rad/s
1147 PB08 PG2 Position loop gain 370 0.1 rad/s
1148 PB09 VG2 Speed loop gain 823 rad/s
1149 PB10 VIC Speed integral compensation 337 0.1ms
114A PB11 VDC Speed differential compensation 980
114B PB12 OVA Overshoot amount compensation 0 %
114C PB13 NH1 Machine resonance suppression filter 1 4500 Hz
114D PB14 NHQ1 Notch shape selection 1 0000h
114E PB15 NH2 Machine resonance suppression filter 2 4500 Hz
114F PB16 NHQ2 Notch shape selection 2 0000h
1150 PB17 NHF Shaft resonance suppression filter 0000h
1151 PB18 LPF Low-pass filter setting 3141 rad/s
1152 PB19 VRF11 Vibration suppression control 1 - Vibration frequency 1000 0.1Hz
1153 PB20 VRF12 Vibration suppression control 1 - Resonance frequency 1000 0.1Hz
1154 PB21 VRF13 Vibration suppression control 1 - Vibration frequency damping 0 0.1
1155 PB22 VRF14 Vibration suppression control 1 - Resonance frequency
damping
0 0.1
1156 PB23 VFBF Low-pass filter selection 0000h
1157 PB24 *MVS Slight vibration suppression control 0000h
1158 PB25 For manufacturer setting 0000h
1159 PB26 *CDP Gain switching function 0000h
115A PB27 CDL Gain switching condition 10 kpps
pulse
r/min
115B PB28 CDT Gain switching time constant 1 ms
115C PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain
switching
700 0.01 times
115D PB30 PG2B Position loop gain after gain switching 0 0.1 rad/s
115E PB31 VG2B Speed loop gain after gain switching 0 rad/s
115F PB32 VICB Speed integral compensation after gain switching 0 0.1ms