Fuji Electric ALPHA5 Smart, User Manual

Page: 206 / 636

CHAPTER 4 PARAMETER
4-38
Control Gain and Filter Setting Parameter
4
PA1_95 Model torque calculation and speed observer selection
No. Name Setting range
Default
value
Change
95
Model torque
calculation and speed
observer selection
Setting Model torque
calculation
Speed observer
0 Disable Disable
1 Enable Disable
2 Disable
Enable
3 Enable Enable
3 Always
This parameter is enabled under position and speed control.
Select whether model torque calculation and speed observer are enabled or disabled.
If model torque calculation is disabled, the torque feed forward calculation using a model of moment of
inertia of load is disabled.
Use the parameter to perform position and speed control at the host controller.
Select "enable" for speed observer during regular operation. Speed compensation is made and stability
is improved.
Parameters related to response of the control system are automatically adjusted according to the
setting of auto tuning 1 or 2. However, the function of PA1_54 (position command response time
constant) is canceled internally.
PA1_96 Speed limit gain for torque control
No. Name Setting range
Default
value
Change
96 Speed limit gain for torque control 0.0 to 50.0 4.0 Always
This parameter is enabled under torque control.
If the rotation speed exceeds the reference value of PA1_26 (maximum rotation speed (for torque
control)) under torque control, the command torque is reduced so that the rotation speed becomes near
the reference value. At this time, an error is caused in the rotation speed in relation to the reference
value. Take into consideration that the parameter adjusts the error. While a larger reference value
decreases the error, excessive value will cause instability.