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APPENDIX
(2) Menu B) Gain filter
Parameter
No.
MR-J3-B
Parameter
No.
Symbol Name Initial Value Units
0120 PB01 FILT Adaptive tuning mode 0000h
0121 PB02 VRFT Vibration suppression control filter turning mode 0000h
0122 PB03 For manufacturer setting 0
0123 PB04 FFC Feed forward gain 0 %
0124 PB05 For manufacturer setting 500
0125 PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 70 0.1 times
0126 PB07 PG1 Model loop gain 24 rad/s
0127 PB08 PG2 Position loop gain 37 rad/s
0128 PB09 VG2 Speed loop gain 823 rad/s
0129 PB10 VIC Speed integral compensation 337 0.1ms
012A PB11 VDC Speed differential compensation 980
012B PB12 OVA Overshoot amount compensation 0 %
012C PB13 NH1 Machine resonance suppression filter 1 4500 Hz
012D PB14 NHQ1 Notch form selection 1 000h
012E PB15 NH2 Machine resonance suppression filter 2 4500 Hz
012F PB16 NHQ2 Notch form selection 2 0000h
0130 PB17 Automatic setting parameter 0000h
0131 PB18 LPF Low-pass filter 3141 rad/s
0132 PB19 VRF1 Vibration suppression control vibration frequency setting 1000 0.1Hz
0133 PB20 VRF2 Vibration suppression control resonance frequency setting 1000 0.1Hz
0134 PB21
For manufacturer setting 0
0135 PB22 0
0136 PB23 VFBF Low-pass filter selection 0000h
0137 PB24 *MVS Slight vibration suppression control selection 0000h
0138 PB25 For manufacturer setting 0000h
0139 PB26 *CDP Gain switching selection 0000h
013A PB27 CDL Gain switching condition 10
013B PB28 CDT Gain switching time constant 1 ms
013C PB29 GD2B Gain switching ratio of load inertia moment to servo motor
inertia moment
70 0.1 times
013D PB30 PG2B Gain switching position control gain 37 rad/s
013E PB31 VG2B Gain switching speed control gain 823 rad/s
013F PB32 VICB Gain switching speed integral compensation 337 0.1ms
0140 PB33 VRF1B Gain switching vibration suppression control vibration frequency
setting
1000 0.1Hz
0141 PB34 VRF2B Gain switching vibration suppression control resonance
frequency setting
1000 0.1Hz
0142 PB35
For manufacturer setting 0
0143 PB36 0
0144 PB37 100
0145 PB38 0
0146 PB39 0
0147 PB40 0
0148 PB41 1125
0149 PB42 1125
014A PB43 0004h
014B PB44 0
014C PB45 CNHF Vibration suppression control filter 2 0000h
014D PB46
For manufacturer setting 0000h
014E PB47 0000h
014F PB48 0000h