Fuji Electric ALPHA7, User Manual

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PA1_36 to 40 Acceleration / deceleration selection at speed control,
Acceleration time and deceleration time settings ············································ 4-27
PA1_41 to 47 Manual feed speed 1 to 7/speed limit 1 to 7 for torque control ····· 4-29
4.3 Control Gain and Filter Setting Parameters ······························· 4-30
4.3.1 List (PA1_

) ·································································· 4-30
4.3.2 Description of Each Parameter ·············································· 4-32
PA1_51 to 53 Command filter settings ······················································ 4-32
PA1_54 Position command response time constant ····································· 4-32
PA1_55 to 57 Response to disturbance settings ·········································· 4-33
PA1_58 Feed forward gain 1 ··································································· 4-33
PA1_59 Torque filter time constant for position and speed control
PA1_60 Torque filter time constant for torque control ······································ 4-34
PA1_61 to 67 Second gain settings ·························································· 4-35
PA1_70 to 76 Notch filter settings ···························································· 4-36
PA1_77 to 86 Vibration suppressing control settings ···································· 4-38
PA1_87 Model torque filter time constant ··················································· 4-39
PA1_88 Position loop integration time constant
PA1_89 Position loop integration limiter ······················································· 4-39
PA1_90 Load torque observer ································································· 4-39
PA1_91 P/PI automatic change selection··················································· 4-40
PA1_92 and 93 Friction compensation settings ··········································· 4-40
PA1_94 Torque filter setting mode ··························································· 4-40
PA1_95 Model torque calculation selection, speed observer selection ············· 4-41
PA1_96 Speed limit gain for torque control ················································· 4-41
4.4 Automatic Operation Setting Parameters ·································· 4-42
4.4.1 List (PA2_

) ·································································· 4-42
4.4.2 Description of Each Parameter ·············································· 4-43
PA2_01 Decimal point position of positioning data ······································· 4-43
PA2_06 to 18 and 22 to 24 Homing settings ··············································· 4-43
PA2_06 Homing speed ·········································································· 4-46
PA2_07 Creep speed for homing ····························································· 4-46
PA2_08 Starting direction for homing ························································ 4-46
PA2_09 Reverse traveling unit amount for homing ······································· 4-47
PA2_10 Homing direction after reference signal detection ····························· 4-48
PA2_11 Reference signal for shift operation ··············································· 4-48
PA2_12 Reference signal for homing (Deceleration starting signal) ················· 4-49
PA2_13 Home position LS signal edge selection ········································· 4-49
PA2_14 Home position shift unit amount ··················································· 4-50