Estun pronet series, User Manual

Page: 178 / 193

ProNet Series AC Servo User's Manual
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Parameter
No.
Description
Setting
Validation
Control
Mode
Function and Meaning
Pn109
2nd position loop
gain
Immediately P
types of gain function are enabled.
Pn110
2nd torque reference
filter time constant
Immediately P
，
S
，
T
Pn111
Speed bias Immediately P
This parameter setting can shorten positioning time.
However, if it is too large or does not cooperate with
Pn111 correctly, vibration will occur.
The relationship with speed reference, error counter,
positioning error is shown in the following chart.
Speed reference
Error counter
Pn500
Pn500
Pn111
Pn111
Pn112
Feedforward Immediately P
It is used to set position feedforward. The response
speed is faster and position error is less when this
parameter setting is higher. Vibration will occur if the
value is set too large.
Unit: %
Pn113
Feedforward filter Immediately P
It is used to ease mechanical vibration due to position
feedforward. The feedforward lag will be enlarged and
result to vibration if the value is set too large.
Unit: 0.1ms
Pn114
Torque feedforward Immediately P
，
S
It is used to set torque feedforward, and enhance
response speed.
Set the load inertia percentage(Pn106) correctly to
enable this function in manual gain adjustment mode.
Unit: %
Pn115
Torque feedforward
filter
Immediately P
，
S
It is used to ease mechanical vibration due to torque
feedforward.
Unit: 0.1ms
Pn116
P/PI switching
condition
After restart P ， S
0: Torque reference percentage
1: Value of offset counter
2: Value of acceleration speed setting
3: Value of speed setting
4: Fixed PI
Pn117
Torque switching
threshold
After restart
P ， S
Threshold of torque to switch PI control to P control.
Unit: %