Pa1_91 P/Pi Automatic Change Selection; Pa1_92 And 93 Friction Compensation Settings; Pa1_94 Torque Filter Setting Mode - Fuji Electric Alpha7 VV User Manual

CHAPTER 4 PARAMETER

PA1_91 P/PI automatic change selection

No.
91 P/PI automatic change selection
The speed adjuster switches to P (proportional) or PI (proportional + integral) control.
Set at 1 (enable) to automatically switch according to the setting of PA1_61 (gain changing factor).
The switching level follows the reference value of PA1_62 (gain changing level).
The state at switching is shown below.
PA1_61: Gain changing factor
Position deviation, feedback speed
4
Command frequency, command
speed
External signal switch
(CONT signal switch)
To apply the brake from an external unit, arrange the P control state.

PA1_92 and 93 Friction compensation settings

No.
92 Speed range for friction compensation
Coulomb friction torque for friction
93
compensation
Specify in a system with reversing speeds if smooth reversing motions are not obtained due to friction.
Specify the speed at which static friction changes to dynamic friction, in these parameters.
Set PA1_92 (speed range for friction compensation) at about 1.0 [r/min] to 10.0 [r/min].
Set PA1_93 (Coulomb friction torque for friction compensation) at the torque equivalent to dynamic
friction (Coulomb friction).
Friction compensation is disabled if the friction compensation torque reference value is 0.

PA1_94 Torque filter setting mode

No.
Torque filter setting mode
94
This parameter is enabled under position and speed control.
Select either to automatically set the torque filter automatically or not during auto tuning operation.
Set at 0 (not set automatically) to manually specify PA1_59 (torque command filter) without relations to
the setting of PA1_13 (tuning mode selection).
Set at 1 (set automatically) to automatically adjust inside the amplifier in other than the manual tuning
mode.
4-40
Control Gain and Filter Setting Parameters
Name
Reference value level or over
Reference value level or less
ON
OFF
Name
Name
0: Do not configure the torque filter
automatically in auto tuning.
1: Configure the torque filter automatically in
auto tuning.
Setting range
0: Disable 1: Enable
Condition
Setting range
0.1 [r/min] to 20.0 [r/min]
0 [%] to 50 [%]
Setting range
Default
Change
value
0 Always
State
P control
PI control
P control
PI control
Default
Change
value
10.0 Always
0 Always
Default
Change
value
1 Always