Pa1_92 And 93 Friction Compensation Settings; Pa1_94 Torque Filter Setting Mode; Pa1_95 Model Torque Calculation Selection, Speed Observer Selection - FujiFilm ALPHA 5 RYT-SX User Manual

PA1_92 and 93 Friction compensation settings

No. Name
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. Name
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.

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.
Setting range
0.1 [r/min] to 20.0 [r/min]
0 [%] to 50 [%]
Setting range
0: Do not configure the torque filter
automatically in auto tuning.
1: Configure the torque filter automatically in
auto tuning.
Setting range
Setting Model torque
calculation
0 Disable
1 Enable
2 Disable
3 Enable
Control Gain and Filter Setting Parameters
CHAPTER 4 PARAMETER
Default
value
10.0
0
Default
value
1
Default
value
Speed observer
Disable
3
Disable
Enable
Enable
Change
Always
Always
4
Change
Always
Change
Always
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