Pa1_87 Model Torque Filter Time Constant; Pa1_88 Position Loop Integration Time Constant; Pa1_89 Position Loop Integration Limiter; Pa1_90 Load Torque Observer - Fuji Electric Alpha7 VV User Manual

If using "2 point simultaneous setting", be sure to change the "Vibration suppressing anti
resonance frequency 0 and 1" settings while the motor is stopped.
An unexpected operation may occur if changed while the motor is rotating.
For details of vibration suppressing control, refer to "Section 5.9 Special Adjustment (Vibration
Suppression)."

PA1_87 Model torque filter time constant

No. Name
87 Model torque filter time constant 0.00 [ms] to 20.00 [ms]
Specify the feed forward control filter time constant of the torque for a model of inertia moment.
Automatic adjustment is made inside the amplifier in other than the manual tuning mode.

PA1_88 Position loop integration time constant

PA1_89 Position loop integration limiter

No. Name
Position loop integration time
88
constant
89 Position loop integration limiter
Use to improve interpolation accuracy of axes when interpolating two or more servomotor axes of an
X-Y table or similar.
PA1_88 (position loop integration time constant) is automatically adjusted inside the amplifier in other
than the manual tuning mode.
The position loop integration time constant is disabled if PA1_89 (position loop integration limiter) is 0.
To enter manually, enter settings so that the following equation is satisfied: Position loop integration
time constant ≥ Speed loop integration time constant x 5

PA1_90 Load torque observer

No. Name
90 Load torque observer
Set at 1 (enable) to suppress effects of load disturbance torque and improve speed fluctuation.
Use the parameter to reduce the positioning settling time due to effects of the load torque such as friction.
Setting range
Setting range
1.0 [ms] to 1000.0 [ms]
0 [r/min] to Max. rotation speed [r/min]
Setting range
0: Disable 1: Enable
Control Gain and Filter Setting Parameters
CHAPTER 4 PARAMETER
Default
Change
value
*** Always
Default
Change
value
*** Always
0 Always
Default
Change
value
0 Always
4
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