Pa1_95 Model Torque Calculation Selection, Speed Observer Selection; Pa1_96 Speed Limit Gain For Torque Control - Fuji Electric Alpha7 VV User Manual

PA1_95 Model torque calculation selection, speed observer selection

No. Name
Model torque
calculation selection,
95
speed observer
selection
This parameter is enabled under position and speed control.
Select whether model torque calculation and speed observer are enabled or disabled.
If model torque calculation is disabled, the torque feed forward calculation using a model of moment of
inertia of load is disabled.
Use the parameter to perform position and speed control at the host controller.
Select "enable" for speed observer during regular operation. Speed compensation is made and stability
is improved.
Parameters related to response of the control system are automatically adjusted according to the
setting of auto tuning 1 or 2. However, the function of PA1_54 (position command response time
constant) is canceled internally.

PA1_96 Speed limit gain for torque control

No. Name
96 Speed limit gain for torque control
This parameter is enabled when performing torque control and PA4_21 (torque control speed limit
method) is set to "1" (older model compatibility).
If the rotation speed exceeds the speed limit value when performing torque control, the command
torque is lowered to bring the rotation speed near the setting value. At this time, an error is caused in
the rotation speed in relation to the reference value. Take into consideration that the parameter adjusts
the error. While a larger reference value decreases the error, excessive value will cause instability.
Setting range
Setting Model torque
calculation
0 Disable
1 Enable
2 Disable
3 Enable
Setting range
0.0 to 50.0
Control Gain and Filter Setting Parameters
CHAPTER 4 PARAMETER
Default
value
Speed observer
Disable
3
Disable
Enable
Enable
Default
value
10.0
Change
Always
4
Change
Always
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