Fuji Electric ALPHA7, User Manual

Page: 222 / 662

CHAPTER 4 PARAMETER
Control Gain and Filter Setting Parameters
4-31
4
No.
PA1_
Name
Default
value
Power
Control mode
Record of
reference value
Position Speed Torque
85
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 3
0 -  - -
86
Vibration suppressing damping coefficient
0.0000 -

- -
87
Model torque filter time constant
*** -   -
88
Position loop integration time constant
*** -  - -
89
Position loop integration limiter
0 -  - -
90
Load torque observer
0 -   -
91
P/PI automatic change selection
0 -
 
-
92
Speed range for friction compensation
10.0 -   -
93
Coulomb friction torque for friction compensation
0 -   -
94
Torque filter setting mode
1 -   -
95
Model torque calculation selection, speed observer
selection
3 -   -
96
Speed limit gain for torque control
10.0 - - - 
Paremeters marked "
○
" in the table are enabled in the corresponding control mode.