b. Four types of internal speeds are selected via the combination of Pin 14
SC1 and Pin 15 SC2 in the CN1 interface.
SC1 OFF, SC2 OFF: internal speed 1. The rotational speed is set via PA24.
SC1 ON, SC2 OFF: internal speed 2.The rotational speed is set via PA25.
SC1 OFF, SC2 ON: internal speed 3.The rotational speed is set via PA26.
SC1 ON, SC2 ON: internal speed 4.The rotational speed is set via PA27.
2: Control mode for trial run;
3: JOG control mode;
The rotational speed is set via Parameter PA21.
4: Encoder zeroing mode
Used to adjust the zero point of the coding mask before the delivery of the
motor.
5: Open loop operation mode:
Used to detect the motor and the encoder.
6: Torque control mode
5
Speed
proportional
gain
a. Increase the proportional gain of rigid set speed loop regulator.
b. The greater the set value is, the higher the gain is and the greater the rigidity
is. The value of the parameter is determined according to the specific model of
the servo driver system and load condition. Generally, the greater the load
inertia is, the greater the set value is.
c. Set a greater value as much as possible without oscillation produced by the
system.
50-500
[ 150 ]
6
Speed integral
time constant
a.
Set the time constant for the integral of the speed loop regulator.
b. Able to inhibit motor overshooting. The smaller the set value is, the faster
the integral speed is. A too small set value easily produces overshooting, while
a too great set value slows the response.
c. The set value is determined according to the specific model of the servo
driver system and load condition. Generally, the greater the load inertia is, the
greater the set value is.
1-1000
[ 20 ]
7
Torque filter
a. Used to remove noises and set the characteristic of the torque command
filter.
b. Used to inhibit the resonance to be produced by the torque.
c. The greater the value is, the greater the cut-off frequency is and the smaller
the vibration and noise produced by the motor is. Where the load inertia is
very great, the set value can be increased appropriately. A too great value
can slow the response and could lead to oscillation.
d. The smaller the value is, the smaller the cut-off frequency is and the faster
the response is. Where a greater torque is needed, the set value can be
decreased appropriately.
20-500
[ 100 ]
8
Speed
detection filter
a.
Used to remove noises and set the characteristic of the speed detection filter.
b.
The greater the value is, the greater the cut-off frequency is and the noise
produced by the motor is. Where the load inertia is very great, the set value
can be changed appropriately. A too great value can slow the response and
could lead to oscillation. The smaller the value is, the greater the cut-off
20-500
[ 100 ]
50
