Fuji Electric ALPHA5 Smart, User Manual

Page: 197 / 636

CHAPTER 4 PARAMETER
Control Gain and Filter Setting Parameter
4-29
4
Function configuration block

For details of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."
PA1_54 Position command response time constant
No. Name Setting range
Default
value
Change
54 Position command response time constant 0.00 to 250.00 [ms] *** Always
Specify the following response characteristics to commands. A smaller setting improves the response
characteristics.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is 10 (auto
tuning), 11 (semi-auto tuning) or 15(shorter cycle time operation mode).
PA1_55 to 57 Response to disturbance settings
No. Name Setting range
Default
value
Change
55 Position loop gain 1 1 to 2000 [rad/s] *** Always
56 Speed loop gain 1 1 to 2000 [Hz] *** Always
57 Speed loop integration time constant 0.5 to 1000.0 [ms] *** Always
Position loop gain 1: Position disturbance response setting. A larger setting improves the response
characteristics.
Speed loop gain 1: Speed disturbance setting. A larger setting improves the response characteristics.
Speed loop integration time constant 1: Integration time constant setting of speed response. A smaller
setting improves the response.
Too much a response characteristic may cause vibration or noise.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is other than 12
(manual tuning).
PA1_58 Feed forward gain 1
No. Name Setting range
Default
value
Change
58 Feed forward gain 1 0.000 to 1.500 0.000 Always
A larger setting decreases the position deviation amount, improving the response characteristics.
Set at 1.000 to reduce the position deviation at a constant speed to almost zero (except during
acceleration or deceleration).
Use this parameter to increase the synchronization accuracy between two axes of synchronous control
or similar.
For regular point-to-point operation, set the parameter at 0.500 or less (approximate value).
Command
Command pulse
smoothing
function
Control
section
Moving
average
S-curve time Low-pass filter
(for s-curve)
time constant