70
Output filter adjustment
The output filter is a 1
st
order torque filter. It can reduce the velocity control loop to output high frequency
torque, which may stimulate overall system resonance.
The user can try to adjust Output_Filter_N from small to large in order to reduce noise.
The filter bandwidth can be calculated using the following formula.
Velocity loop bandwidth calculation
Use the following formula to calculate velocity loop bandwidth:
kt
motor torque constant, unit: Nm/Arms*100
J
inertia, unit: kg*m^2*10^6
Fbw
Velocity loop bandwidth, unit: Hz
Imax
max motor current I_max(6510.03) as DEC value
encoder
resolution of the encoder
Integral gain adjustment
Integral gain is used to eliminate static error. It can boost velocity loop low frequency gain, and increased
integral gain can reduce low frequency disturbance response.
Normally, if the machine has considerable friction, integral gain (kvi) should be set to a higher value.
If the entire system needs to respond quickly, integral should be set to a small value or even 0, and the gain
switch should be used.
Adjust Kvi_sum_limit
Normally the default value is fine. This parameter should be added if the application system has a big extend
force, or should be reduced if the output current is easily saturation and the saturation output current will
cause some low frequency oscillation.
7.2.2 Tuning of the position loop
Table 7-4: List of position loop parameters
Panel
address
Internal
address
Name
Description
Defaults
Range
d2.07
60FB.01
Kpp[0]
Proportional position loop gain.
Used to set the position loop response.
unit: 0.01Hz
10
0-32767
d2.08
2FF0.1A
K_Velocity_FF‰
0 means no feedforward, 1000 means 100%
feedforward.
1000
0-4000
d2.09
2FF0.1B
K_Acc_FF‰
The unit only is right if the inertia ratio is
correctly set.
If the inertia ratio is unknown, set
K_Acc_FF(60FB.03) instead.
/
0-4000
d2.26
60FB.05
Pos_Filter_N
The time constant of the position demand LPF
unit: ms
1
1-255