Fuji Electric ALPHA7, User Manual

Page: 210 / 662

CHAPTER 4 PARAMETER
Basic Parameters
4-19
4
Parameters that must be entered in each tuning mode and automatically adjusted parameters are
shown below.
No.
PA1_
Name
Tuning mode selection
0: Auto 1: Semi-auto 2: Manual
3: Interpolation
control
14 Load inertia ratio -
  
15 Auto tuning gain 1    
51 Moving average S-curve time - -  
54
Position command response
time constant
- -  
55 Position loop gain 1 - -  -
56 Speed loop gain 1 - -

-
57
Speed loop integration time
constant 1
- -  -
59
Torque filter time constant for
position and speed control
   
87
Model torque filter time
constant
- -

-
88
Position loop integration time
constant
- -  -

: Items that must be entered
 : The item is entered automatically or manually according to a parameter (PA1_94: torque filter
setting mode).
- : Entry is unnecessary. (The item is automatically calculated inside the amplifier and the result is
reflected on the parameter.)

: Entry can be made, but the setting is ineffective.

For detail description of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."
PA1_14 Load inertia ratio
No. Name Setting range
Default value
Change
14 Load inertia ratio
GYS and GYB, 750 W or less:
0.0 to 300.0 [times]
GYS, 1 kW or more: 0.0 to 100.0 [times]
GYG : 0.0 to 30.0 [times]
1.0 Always
Enter the moment of inertia of the load of the mechanical system in relation to the motor shaft (moment
of inertia of load converted to motor shaft) in a ratio to the moment of inertia of the motor.
Load inertia ratio
Load inertia of converted to motor shaft
Inertia of motor
=
The parameter must be entered according to some settings of PA1_13 (tuning mode selection).
With auto tuning, the value is automatically updated and saved in EEPROM every 10 minutes.
The value must be entered in the semi-auto, manual and interpolation control modes.