CHAPTER 4 PARAMETER
4
No.
PA1_
Name
Default
value
Power
Control mode
Record of
Position Speed Torque reference value
84 Vibration suppressing anti resonance frequency 3 300.0
-
-
-
85
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 3
86 Vibration suppressing damping coefficient
87 Model torque filter time constant
88 Position loop integration time constant
89 Position loop integration limiter
0
-
0.0000
-
***
-
***
-
0
-
-
-
-
-
-
-
-
-
-
90 Load torque observer
0
-
-
91 P/PI automatic change selection
0
-
-
92 Speed range for friction compensation
10.0
-
93 Coulomb friction torque for friction compensation
0
-
94 Torque filter setting mode
1
-
-
-
-
95
Model torque calculation selection, speed observer
selection
3
-
-
96 Speed limit gain for torque control
4.0
-
-
-
Paremeters marked "○" in the table are enabled in the corresponding control mode.
4.3.2 Description of Each Parameter
PA1_51 to 53 Command filter settings
No.
Name
Setting range
51 Moving average S-curve time
0, 2 to 500 (×0.125 [ms])
52
Low-pass filter (for S-curve) time
constant
0.0 to 1000.0 [ms]
53 Command pulse smoothing function 0: Disable 1: Enable
Default
value
***
Change
Always
0.0 Always
0
Always
Filters can be added to commands for smoother follow-up.
Moving
average
S-curve time
This parameter is enabled under position control.
Specify the moving average S-curve filter time to position commands.
A larger setting at low command pulse frequencies or large electronic gear ratios can
reduce the torque ripple caused by fluctuation of the command pulse.
The new setting of this parameter is reflected when both the position command and
filter accumulation pulse are "0".
If PA1_13 (tuning mode selection) is 10 (auto tuning), 11 (semi-auto tuning) or
15(shorter cycle time operation mode) automatic adjustment is made inside the
amplifier.
Low-pass Enter the low-pass filter (for S-curve) filter time constant in relation to position
filter (for
commands and speed commands. Acceleration and deceleration are made so that an
S-curve)
approximate S-curve is drawn.
time constant
Command
pulse
smoothing
function
The parameter is enabled under position control.
If the function is enabled, smoothing is added to the position command every 2 ms
intervals.
A larger setting at low command pulse frequencies or large electronic gear ratios can
reduce the torque ripple caused by fluctuation of the command pulse.
While the setting can be changed at any time, the new setting is reflected when both
the position command and filter accumulation pulse are "0".
4-28 Control Gain and Filter Setting Parameter