Fuji Electric ALPHA7, User Manual

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CHAPTER 4 PARAMETER
Control Gain and Filter Setting Parameters
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4
If using “2 point simultaneous setting”, be sure to change the “Vibration suppressing anti
resonance frequency 0 and 1” settings while the motor is stopped.
An unexpected operation may occur if changed while the motor is rotating.
For details of vibration suppressing control, refer to "Section 5.9 Special Adjustment (Vibration
Suppression)."
PA1_87 Model torque filter time constant
No. Name Setting range
Default
value
Change
87 Model torque filter time constant 0.00 [ms] to 20.00 [ms] *** Always
Specify the feed forward control filter time constant of the torque for a model of inertia moment.
Automatic adjustment is made inside the amplifier in other than the manual tuning mode.
PA1_88 Position loop integration time constant
PA1_89 Position loop integration limiter
No. Name Setting range
Default
value
Change
88
Position loop integration time
constant
1.0 [ms] to 1000.0 [ms] *** Always
89 Position loop integration limiter 0 [r/min] to Max. rotation speed [r/min] 0 Always
Use to improve interpolation accuracy of axes when interpolating two or more servomotor axes of an
X-Y table or similar.
PA1_88 (position loop integration time constant) is automatically adjusted inside the amplifier in other
than the manual tuning mode.
The position loop integration time constant is disabled if PA1_89 (position loop integration limiter) is 0.
To enter manually, enter settings so that the following equation is satisfied: Position loop integration
time constant ≥ Speed loop integration time constant x 5
PA1_90 Load torque observer
No. Name Setting range
Default
value
Change
90 Load torque observer 0: Disable 1: Enable 0 Always
Set at 1 (enable) to suppress effects of load disturbance torque and improve speed fluctuation.
Use the parameter to reduce the positioning settling time due to effects of the load torque such as friction.