Description Of Each Parameter; Pa1_51 To 53 Command Filter Settings; Pa1_54 Position Command Response Time Constant - Fuji Electric ALPHA7 User Manual

4.3.2 Description of Each Parameter

PA1_51 to 53 Command filter settings

No. Name
51 Moving average S-curve time
Low-pass filter (for S-curve) time
52
constant
53 Command pulse smoothing function 0: Disable 1: Enable
Filters can be added to commands for smoother follow-up.
This parameter is enabled under position control.
Specify the moving average S-curve filter time to position commands.
A larger setting at low command pulse frequencies or large electronic gear ratios can
Moving
reduce the torque ripple caused by fluctuation of the command pulse.
average
The new setting of this parameter is reflected when both the position command and
S-curve time
filter accumulation pulse are "0".
If PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning), automatic
adjustment is made inside the amplifier.
Low-pass Enter the low-pass filter (for S-curve) filter time constant in relation to position
filter (for commands and speed commands. Acceleration and deceleration are made so that an
S-curve) approximate S-curve is drawn.
time constant
The parameter is enabled under position control.
If the function is enabled, smoothing is added to the position command every 2 [ms]
Command intervals.
pulse By enabling the setting when the command pulse frequency is low, or when the
smoothing electronic gear ratio is large, torque ripples caused by command pulse fluctuations can
function be reduced.
While the setting can be changed at any time, the new setting is reflected when both
the position command and filter accumulation pulse are "0".
Function configuration block
Command pulse
smoothing
Command
function
 For details of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."

PA1_54 Position command response time constant

No.
54 Position command response time constant
Specify the following response characteristics to commands. A smaller setting improves the response
characteristics.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is 0 (auto tuning)
or 1 (semi-auto tuning).
0, 2 to 500 (×0.05 [ms])
0.0 [ms] to 1000.0 [ms]
Moving
average
S-curve time
Name
Control Gain and Filter Setting Parameters
CHAPTER 4 PARAMETER
Setting range
Low-pass filter
(for s-curve)
time constant
Setting range
0.00 [ms] to 250.00 [ms]
Default
Change
value
*** Always
0.0 Always
0 Always
Control
section
Default
Change
value
*** Always
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