Table of Contents
Advertisement
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
PrNo.
P a r a m e t e r
1st position
1 0
loop gain
1 1
1 s t v e l o c i t y
loop gain
1 2
1st velocity
loop integration
time constant
1 3
1 s t s p e e d
d e t e c t i o n
f i l t e r
1 4
1st torque filter
time constant
Velocity feed
1 5
forward
1 6
Feed forward
filter time
constant
Value
U n i t
10 ~
1 / s
• You can define the response characteristics of position
2000
control. Higher the gain you set, quicker the in-position
[ 50 ]
time you can obtain.
1 ~
Hz
• To obtain the overall response of the servo system
3500
*
together with the above position gain, set this gain as
[ 100 ]
large as possible.
* If Pr20 (inertia ratio) has been set correctly, the unit of
values of Pr11 and Pr 19 is Hz.
1 ~
m s
• Integration element of the velocity loop. The
1000
smaller the setting, the quicker you can reduce
[ 50 ]
the velocity error to 0.
• The integration is disabled by setting this at
1,000.
0 ~ 5
-----
• You can set-up the time constant of low-pass
[ 4 ]
filter(LPF) in 6 stages(0 to 5), which is inserted
after the block , and which converts the encoder
signal to the velocity signal.
• Normally, use the default (4).
• If set value is smaller, the motor noise increases. But, the time
constant becomes smaller and also the phase lag becomes smaller.
Thus, you can set-up larger. Sudden setting of small value may cause
oscillation to damage machine. Be careful in setting.
0 ~
0.01ms
• You can set-up the time constant of the primary delay filter that is
2500
inserted to the torque command portion.
[ 50 ]
• Use this function to suppress the oscillation caused by torsion
resonance.
0 ~
%
You can set-up the amount of velocity feed forward at
100
position control. Position error becomes almost 0 while
[ 0 ]
the motor runs at a constant speed, by setting this to
100%. The higher the setting you make, the quicker
the response you can obtain with smaller position error,
however, it may cause overshoot.
0 ~
0.01ms
• You can set-up the time constant of the primary delay filter that is
6400
inserted to the velocity feed forward portion.
[ 0 ]
• Use this function to reduce the over and undershoot of the
speed, chattering of the in-position signal.
- App.21 -
F u n c t i o n
Advertisement
Table of Contents
