Fuji Electric ALPHA7, User Manual

Page: 224 / 662

CHAPTER 4 PARAMETER
Control Gain and Filter Setting Parameters
4-33
4
PA1_55 to 57 Response to disturbance settings
No. Name Setting range
Default
value
Change
55 Position loop gain 1 1 [rad/s] to 2000 [rad/s] *** Always
56 Speed loop gain 1 1 [Hz] to 2000 [Hz] *** Always
57 Speed loop integration time constant 1 0.5 [ms] to 1000.0 [ms] *** Always
Position loop gain 1: Position disturbance response setting. A larger setting improves the response
characteristics.
Speed loop gain 1: Speed disturbance setting. A larger setting improves the response characteristics.
Speed loop integration time constant 1: Integration time constant setting of speed response. A smaller
setting improves the response.
Too much a response characteristic may cause vibration or noise.
When PA4_21 (torque control speed limit method) is set to "0" (PI control), the response characteristics
with operations by speed limit at torque control are determined by the setting values of PA1_56 and
PA1_57.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is other than 2
(manual tuning).
PA1_58 Feed forward gain 1
No. Name Setting range
Default
value
Change
58 Feed forward gain 1 0.000 to 1.500 0.000 Always
A larger setting decreases the position deviation amount, improving the response characteristics.
Set at 1.000 to reduce the position deviation at a constant speed to almost zero (except during
acceleration or deceleration).
Use this parameter to increase the synchronization accuracy between two axes of synchronous control
or similar.
For regular point-to-point operation, set the parameter at 0.500 or less (approximate value).