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Details of Parameters
1 0
1st position
loop gain
1 1
1st
velocity
loop gain
1 2
1st
velocity
loop
integration
time constant
1st speed
1 3
detection
filter
1 4
1st
torque
filter
time
constant
1 5
Velocity feed
forward
1 6
Feed forward
filter time
constant
• You can define the response characteristics of
10 ~
1 / s
position control. Higher the gain you set,
2000
quicker the in-position time you can obtain.
[ 50 ]
• To obtain the overall response of the servo
1 ~
Hz
3500
*
system together with the above position gain,
[ 100 ]
set this gain as large as possible.
* If Pr20 (inertia ratio) has been set correctly, the
unit of values of Pr11 and Pr 19 is Hz.
• Integration element of the velocity loop.
1 ~
m s
1000
Thesmaller the setting, the quicker you can
[ 50 ]
reduce the velocity error to 0.
• The integration is disabled by setting this
at1,000.
• You can set-up the time constant of low-
0 ~ 5
-----
[ 4 ]
passfilter(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.
0.01ms • You can set-up the time constant of the
0 ~
2500
primary delay filter that isinserted to the torque
[ 50 ]
command portion.
• Use this function to suppress the oscillation
caused by torsionresonance.
0 ~
%
You can set-up the amount of velocity feed
forward at position control. Position error
100
becomes almost 0 while the motor runs at a
[ 0 ]
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.
0.01ms • You can set-up the time constant of the primary
0 ~
6400
delay filter that isinserted to the velocity feed
[ 0 ]
forward portion.
- App.26 -
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