Fagor BCSD Series, User Manual, Page: 104 / 118

BCSD-104/116 Digital Brushless AC S ervo D rive system - Ref. 1809
Parameter
No.
Description
Setting
Validation
Function and Meaning
Pn101
Machine rigidity
setting
Immediately
The response speed of servo system is determined by this
parameter. Normally, the rigidity should be set a little larger.
However, if it is too large, it would suffer mechanical impact.
It should be set a little smaller when large vibration is present.
This parameter is only valid in autotuning.
Pn102 Speed loop gain Immediately
This parameter determines speed loop gain.
Unit: rad/s
Pn103
Speed loop
integral time
constant
Immediately
Decreases the value of this parameter to shorten positioning
time and enhance speed response.
Unit: 0.1 ms
Pn104 Reserved — —
Pn105
Torque
reference
filter time
constant
Immediately
Torque reference filter can eliminate or lighten mechanical
vibration. But incorrect setting will result to mechanical
vibration. Unit: 0.1 ms
Pn106
Load inertia
percentage
Immediately
Setting value = (load inertia/motor rotor inertia) 100
Unit:%
Pn107
2nd speed loop
gain
Immediately
The meanings of these parameters are the same as Pn102
~ Pn105.
These parameters are only needed to set when two types
of gain function are enabled.
Pn108
2nd speed loop
integral time
constant
Immediately
Pn109 Reserved —
Pn110
2nd torque
reference filter
time constant
Immediately
Pn111 Reserved — —
Pn112 Reserved — —
Pn113 Reserved — —
Pn114
Torque
feedforward
Immediately
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
It is used to ease mechanical vibration due to torque
feedforward.
Unit: 0.1 ms
Pn116
P/PI switching
condition
After restart
0: Torque reference percentage
1: Reserved
2: Value of acceleration speed setting
3: Value of speed setting
4: Fixed PI
Pn117
Torque
switching
threshold After restart
Threshold of torque to switch PI control to P control.
Unit:%
Pn118 Reserved — —