Fuji Electric ALPHA7, User Manual

Page: 223 / 662

CHAPTER 4 PARAMETER
4-32
Control Gain and Filter Setting Parameters
4
4.3.2 Description of Each Parameter
PA1_51 to 53 Command filter settings
No. Name Setting range
Default
value
Change
51 Moving average S-curve time 0, 2 to 500 (×0.05 [ms]) *** Always
52
Low-pass filter (for S-curve) time
constant 0.0 [ms] to 1000.0 [ms]
0.0 Always
53 Command pulse smoothing function 0: Disable 1: Enable 0 Always
Filters can be added to commands for smoother follow-up.
Moving
average
S-curve time
This parameter is enabled under position control.
Specify the moving average S-curve filter time to position commands.
A larger setting at low command pulse frequencies or large electronic gear ratios can
reduce the torque ripple caused by fluctuation of the command pulse.
The new setting of this parameter is reflected when both the position command and
filter accumulation pulse are "0".
If PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning), automatic
adjustment is made inside the amplifier.
Low-pass
filter (for
S-curve)
time constant Enter the low-pass filter (for S-curve) filter time constant in relation to position
commands and speed commands. Acceleration and deceleration are made so that an
approximate S-curve is drawn.
Command
pulse
smoothing
function
The parameter is enabled under position control.
If the function is enabled, smoothing is added to the position command every 2 [ms]
intervals.
By enabling the setting when the command pulse frequency is low, or when the
electronic gear ratio is large, torque ripples caused by command pulse fluctuations can
be reduced.
While the setting can be changed at any time, the new setting is reflected when both
the position command and filter accumulation pulse are "0".
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 [ms] 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 0 (auto tuning)
or 1 (semi-auto tuning).
Command
Command pulse
smoothing
function
Control
section
Moving
average
S-curve time Low-pass filter
(for s-curve)
time constant