Fagor BCSD Series, User Manual, Page: 106 / 118

BCSD-106/116 Digital Brushless AC S ervo D rive system - Ref. 1809
Parameter
No.
Description
Setting
Validation
Function and Meaning
Pn200
PG divided
ratio
After restart
Analog encoder output orthogonal difference pulses.
The meaning of this value is the number of analog encoder
output orthogonal difference pulses per one servomotor
rotation.
Pn201 Reserved — —
Pn202 Reserved — —
Pn203 Reserved — —
Pn204 Reserved — —
Pn205 Reserved — —
Pn206
Constant
Positive Torque
Compensation
Immediately
Constant friction compensation in the positive direction of the
velocity. It is a constant value for all the positive reference
speeds.
Pn207
Constant
Negative
Torque
Compensation
Immediately
Constant friction compensation in the negative direction of
the velocity. It is a constant value for all the negative
reference speeds.
Pn208
Dynamic
Positive Torque
Compensation
Immediately
Compensation of the dynamic friction in the positive direction
of the velocity. It is the value of the compensation with the
reference speed equal to rated speed. It is directly
proportional to other positive reference speeds. See
previous figure.
Pn209
Dynamic
Negative
Torque
Compensation
Immediately
Compensation of the dynamic friction in the negative
direction of the velocity. It is the value of the compensation
with the reference speed equal to - rated speed. It is directly
proportional to other negative reference speeds.
Pn210
Torque
Compensation
Time Constant Immediately
Time constant of the torque compensation. Before applying
the torque compensation, it goes through a lowpassing filter.
This filter better represents the friction behavior in velocity
direction changes. The constant friction suddenly changes
when changing the sign of the reference speed. When it goes
through the filter, it smoothens the compensation torque
without jerking the system and improving friction behavior.
A 0 value cancels the friction compensations.
Pn211
Torque
Compensation
Speed
Hysteresis
Immediately Amplitude of the hysteresis in friction torque compensation.
Pn300
Speed
reference
input gain
Immediately The corresponding speed to 1 V analog input.
Pn301
Analog speed
given zero bias
Immediately
This parameter is used to set zero bias of analog speed given,
and it is related with speed reference input gain (Pn300),
Speed reference = (External speed given input analog-
Analog speed given zero bias) × Speed reference input gain.
Pn302 Reserved — —
Pn303 Reserved — —
Pn304 Reserved — —