Specifications

14-108
Servo drive
control
(Cont’d)
Torque reference notch
filter
1st stage notch filter selection
SWITCH_NOTCH_FILTERS MD3358 digit0(Pn408 digit0) - -
0: Disabled 1: Enabled
2nd stage notch filter selection
SWITCH_NOTCH_FILTERS MD3358 digit1(Pn408 digit1) - -
0: Disabled 1: Enabled
1st stage notch filter frequency
FREQUENCY_NOTCH_FILTER_1 MD3359(Pn409) - Hz
1st stage notch filter Q value
Q_VALUE_NOTCH_FILTER_1 MD3360(Pn40A) - 0.01
2nd stage notch filter frequency
FREQUENCY_NOTCH_FILTER_2 MD3361(Pn40B) - Hz
2nd stage notch filter Q value
Q_VALUE_NOTCH_FILTER_2 MD3362(Pn40C) - 0.01
Speed feedback
compensation
Speed feedback compensation function selection
SWITCH_ONLINE_AUTO_TUNING MD3046 digit 1(Pn110 digit1) - -
0: Disabled 1: Enabled
Speed feedback compensation gain
SPEED_FEEDBACK_COMP_GAIN MD3047(Pn111) - %
Speed feedback delay compensation
SPEED_FEEDBACK_DELAY_COMP MD3048(Pn112) - %
Speed feedback compensation inertia gain
Predictive control
1st predictive control switch
SWITCH_PREDICTED_1 MD3079 digit 0(Pn131 digit 0) - -
For machining feed 0: Disabled 1: Enabled (Tp = 0.001) 2: Enabled (Tp = 0.002)
1st predictive control parameter C
PARAM_C_PREDICTED_1 MD3080(Pn132) - 0.01
For machining feed
1st predictive control parameter Cd
PARAM_CD_PREDICTED_1 MD3081(Pn133) - 0.01
For machining feed
1st predictive control parameter
α
PARAM_ALPHA_PREDICTED_1 MD3082(Pn134) - 0.01
For machining feed
1st predictive control equivalent Kp fine adjustment
EQUIV_KP_ADJ_PREDICTED_1 MD3083(Pn135) - 0.1/s
For machining feed
1st predictive control speed FF gain
SPD_FF_GAIN_PREDICTED_1 MD3084(Pn136) - %
For machining feed
1st predictive control torque FF gain
TRQ_FF_GAIN_PREDICTED_1 MD3085(Pn137) - %
For machining feed
1st predictive control torque FF filter time constant
TRQ_FF_FLT_T_CONST_PREDIC_1 MD3086(Pn138) - 0.01Hz
For machining feed
2nd predictive control switch
SWITCH_PREDICTED_1 MD3079 digit 1(Pn131 digit 1) - -
For positioning 0: Disabled 1: Enabled (Tp = 0.001) 2: Enabled (Tp = 0.002)
1st predictive control parameter C
PARAM_C_PREDICTED_1 MD3087(Pn139) - 0.01
For positioning
2nd predictive control parameter Cd
PARAM_CD_PREDICTED_1 MD3088(Pn13A) - 0.01
For positioning
2nd predictive control parameter
α
PARAM_ALPHA_PREDICTED_1 MD3089(Pn13B) - 0.01
For positioning
2nd predictive control equivalent Kp fine adjustment
EQUIV_KP_ADJ_PREDICTED_1 MD3090(Pn13C) - 0.1/s
For positioning
2nd predictive control speed FF gain
SPD_FF_GAIN_PREDICTED_1 MD3091(Pn13D) - %
For positioning
2nd predictive control torque FF gain
TRQ_FF_GAIN_PREDICTED_1 MD3092(Pn13E) - %
For positioning
2nd predictive control torque FF filter time constant
TRQ_FF_FLT_T_CONST_PREDIC_1 MD3093(Pn13F) - 0.01Hz
For positioning
Model following control
Model following control (MFC) selection
SWITCH_ONLINE_AUTO_TUNING MD3046 digit 3(Pn110 digit 3) - -
0: Disabled 1: Rigid model following control selection
Model following control (MFC) bank 0 mask
MASK_MFC_BNAKSEL_0_3 MD3527 digit 0
(MD81B digit 0)
1-
0: Bank 0 enabled 1: Bank 0 disabled
Model following control (MFC) bank 1 mask
MASK_MFC_BNAKSEL_0_3 MD3527 digit 1
(MD81B digit 1)
0-
0: Bank 0 enabled 1: Bank 0 disabled
Model following control (MFC) bank 2 mask
MASK_MFC_BNAKSEL_0_3 MD3527 digit 2
(MD81B digit 2)
1-
0: Bank 0 enabled 1: Bank 0 disabled
Model following control (MFC) bank 3 mask
MASK_MFC_BNAKSEL_0_3 MD3527 digit 3
(MD81B digit 3)
1-
0: Bank 0 enabled 1: Bank 0 disabled
MFC gain
LOOP_GAIN_MFC MD3055(Pn119) - 0.1/s
MAC attenuation factor
DUMP_FACTOR_MFC MD3056(Pn11A) - 0-1000
MFC speed FF gain
SPD_FF_GAIN_MFC MD3059(Pn11D) - 0-1000
MFC torque FF gain
TRQ_FF_GAIN_MFC MD3060(Pn11E) - 0-1000
Vibration control at a stop
Attenuation ratio for vibration control at a stop
DAMP_RATIO_ANTIVIB_ON_STP MD3114(Pn154) - %
Function is disabled when the initial value is set to 100% (initial value = 100%).
Starting time for vibration control at a stop
START_TIME_ANTIVIB_ON_STP MD3115(Pn155) 1024 ms
Vibration control
Vibration control selection
GAIN_SWITCH MD3041 digit 3(Pn10B digit 3) - -
0: Disabled 3: A-type vibration control function enabled
Vibration control damping gain
SPD_DUMP_GAIN_ANTIVIBRATION MD3050(Pn114) - %
Vibration control low pass filter time constant
LPF_CONST_ ANTIVIBRATION MD3051(Pn115) - 0.01ms
Vibration control high pass filter time constant
HPF_CONST_ ANTIVIBRATION MD3052(Pn116) - 0.01ms
Vibration control observer gain
OBSERVER_GAIN_ANTIVIBR MD3071(Pn129) - Hz
Vibration control observer gain inertia compensation
LOAD_INERTIA_ANTIVIBR MD3072(Pn12A) - %
Gain switching
2nd speed loop gain
KV2 MD3034(Pn104) - 0.1Hz
2nd speed loop integral time constant
KVI2 MD3035(Pn105) - 0.01ms
3rd speed loop gain
KV3 MD3073(Pn12B) - 0.1Hz
3rd speed loop gain integral time constant
KVI3 MD3074(Pn12C) - 0.01ms
Analog monitor
Data selection
FUNCTION_SWITCH_APPLIC3 MD3003(Pn003) 0002 -
Main topic Topic Subtopic
Name of Parameter
No. of Parameter
Typical Setting
Value
UNIT General setting and others