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Details of Parameters
1 F
Disturbance
torque
observer
* 1Note that
the sion
of the Di
the actual
re
• For the
calcul
load
inertia
lated.
the l the
value of
Parameters for real time gain tuning
PrNo.
Paramete r
2 0
Inertia rati o
—
0 ~ 8
running
se of the
tor becomes larger, with a smaller value of
noi
mo
Pr1F(better suppres-
sturbance
orque). It
recommended that you start from the larger
t sponse
is
value of Pr1F to see e value.
and
decrease
que in the observer, the inertia ratio (Pr20) is
ation
of
th
necessary. If the nertia ratio and set the value of
urbance
Dist
s
Pr20 to the inertia ratio calcuperform the auto
tor
known, ca
gain tuning so that you can automatically enter
i
oad
lculate
If
inertia
i
the
i
s
Pr20.
unknown,
Value
Unit
• You can set-up the ratio of load inertia to
0 ~
%
themotor's rotor inertia.
10000
[100]
Pr20 = (Load inertia)/(Rotor inertia) x100%
• Set values change by operating gain adjustment
rotary switch GAIN. (See page 58.)
• The load inertia can be estimated by executing
the auto gaintuning, and this result will be
reflected in this parameter. If Pr20 (inertia ratio)
is set correctly, the unit of the values of Pr11 and
Pr19 becomes Hz. If the value of Pr20 is larger
than the actual load inertia, the unit of the value
of these parameters becomes larger. If the value
of Pr20 is smaller than the actual load inertia, the
unit of the value of these parameters becomes
smaller.
- App.28 -
• You can set-up the time constant (eight
options) of the primary delay filter inserted in
the Disturbance torque observer.
Value of Pr1F
0 ~ 7
The smaller the setting is, the
larger the suppression you can
expect. *1
Function
[ 8 ]
Disturbance
torque
observer
disabled.
Default : [
]
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