INVT DA180-S2R8SG0 Operation Manual page 240

DA180 series basic AC servo drive
P0.22 P0.26
P0.25 P0.27
Position command
Electronic
gear
Position Position
smoothing command
filter vibration control
P0.33 P1.35
P0.34 P1.36
P1.37
P1.38
P0.06 P1.39
P0.07
P0.08
P4.67
Frequency-
division output
The common procedure for adjusting parameters in position mode is as follows:
1. Restore default settings.
For details, see section 5.2.5.3 "Factory parameter restoring".
2. Adjust the position loop gain.
If the servo motor runs with default settings but the system vibrates with buzzes, decrease the
position loop gain (that is, P2.02 or P2.07) or increase it when the system rigidity is low.
3. Adjust the position smoothing filter.
In position control, if the input frequency changes of position pulse commands are noticeable, huge
surges may be caused. You need to adjust the P0.33 [Position command smooth filter time] or P0.34
[Position command FIR filter time].
4. Adjust the electronic gear.
If the pulse generation device is limited on the pulse sending frequency or the sending frequency
does not meet mechanical requirements, you can change the pulse input frequency by adjusting
P0.22 [Pulses per motor resolution] or electronic gear ratio parameters P0.25, P0.26, P0.27, P0.28,
and P0.29, so as to meet position control requirements.
5. Adjust the position feed-forward.
If the residual pulses are great or no-deviation tracking is required, you can adjust the speed
feed-forward gain parameter P2.10 and speed feed-forward filtering parameter P2.11 to improve
position tracking performance. However, if the speed feed-forward gain is too large, the system may
vibrate.
6. Set the frequency division for feedback pulse output.
If feedback pulses need to be output, you can set the frequency-division output coefficient parameters
P0.06 and P0.07 to change the pulse output frequency.
P0.28 P4.60 P2.10
P0.29 P4.61 P2.11
Frequency-
Speed
division ratio of
feedforward
grating ruler
Frequency-
Position
division ratio of
controller
grating ruler
P4.60 P2.02
P4.61 P2.07
P2.03
P2.08
Hybrid-control
deviation
calculation
P2.12
P2.13
Torque
feedforward compensation
Speed
controller
P2.00
P2.01
Speed
P2.05
detection
filter
P2.06
P1.01
P4.60
P1.02
P4.61
P2.41
Disturbance
P2.42
P2.43
-234-
Commissioning
P2.70
P2.20 P2.24
P2.71
P2.22 P2.25
P2.72
P2.23 P2.26
P2.73
Friction Gain
switching
Notch filter Torque filter
P1.23 P1.29 P2.04
P1.24 P1.30 P2.09
P1.25 P1.31
P1.26 P1.32
P1.27 P1.33
P1.28 P1.34
P1.19 P1.20
control
P4.62
Encoder
Grating ruler
P0.09
P0.10
P0.11
P4.51
P4.52
Torque limit
P4.53
Current
controller
Motor