Pa1_55 To 57 Response To Disturbance Settings; Pa1_58 Feed Forward Gain 1 - Fuji Electric Alpha7 VV User Manual

PA1_55 to 57 Response to disturbance settings

No. Name
55 Position loop gain 1
56 Speed loop gain 1
57 Speed loop integration time constant 1 0.5 [ms] to 1000.0 [ms]
Position loop gain 1: Position disturbance response setting. A larger setting improves the response
characteristics.
Speed loop gain 1: Speed disturbance setting. A larger setting improves the response characteristics.
Speed loop integration time constant 1: Integration time constant setting of speed response. A smaller
setting improves the response.
Too much a response characteristic may cause vibration or noise.
When PA4_21 (torque control speed limit method) is set to "0" (PI control), the response characteristics
with operations by speed limit at torque control are determined by the setting values of PA1_56 and
PA1_57.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is other than 2
(manual tuning).

PA1_58 Feed forward gain 1

No. Name
58 Feed forward gain 1
A larger setting decreases the position deviation amount, improving the response characteristics.
Set at 1.000 to reduce the position deviation at a constant speed to almost zero (except during
acceleration or deceleration).
Use this parameter to increase the synchronization accuracy between two axes of synchronous control
or similar.
For regular point-to-point operation, set the parameter at 0.500 or less (approximate value).
Setting range
1 [rad/s] to 2000 [rad/s]
1 [Hz] to 2000 [Hz]
Setting range
0.000 to 1.500
Control Gain and Filter Setting Parameters
CHAPTER 4 PARAMETER
Default
Change
value
*** Always
*** Always
*** Always
Default
Change
value
0.000 Always
4
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