Appendices
A - 6
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
The relationships between the modes of operation of G5-series Servo Drives with built-in EtherCAT
communications and the application functions are shown below.
3: Supported, –: Not supported
*1 When one adaptive filter is enabled, notch 3 is set automatically. When two adaptive filters are enabled, notch
3 and notch 4 are set automatically.
*2 When realtime autotuning is enabled, you cannot use the force feed-forward function. (They are in an
exclusive relationship.)
*3 The FIR filter is enabled only in pp, hm, and csp mode when the communications cycle is set to 1 ms or above.
*4 When realtime autotuning is enabled, the instantaneous speed observer and disturbance observer are
automatically disabled.
*5 Realtime autotuning must be disabled to enable the instantaneous speed observer.
When the instantaneous speed observer is enabled, the disturbance observer is automatically disabled.
*6 Realtime autotuning and the instantaneous speed observer must be disabled to enable the disturbance
observer.
A-1-4 Modes of Operation and Applied Functions
Function
Modes of operation
csp, pp, hm csv cst
Notch filter (notch 1 to notch 4)
*1
333
Damping filter 3 ––
Speed feed–forward 3 ––
Force feed–forward function
*2
33 –
Position command FIR filter
*3
3 ––
Position command smoothing filter 3 ––
Realtime autotuning
*4
333
Instantaneous speed observer
*5
33 –
Disturbance observer
*6
33 –
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