Fuji Electric ALPHA7, User Manual

Page: 231 / 662

CHAPTER 4 PARAMETER
4-40
Control Gain and Filter Setting Parameters
4
PA1_91 P/PI automatic change selection
No. Name Setting range
Default
value
Change
91 P/PI automatic change selection 0: Disable 1: Enable 0 Always
The speed adjuster switches to P (proportional) or PI (propor integral) control.
Set at 1 (enable) to automatically switch according to the setting of PA1_61 (gain changing factor).
The switching level follows the reference value of PA1_62 (gain changing level).
The state at switching is shown below.
PA1_61: Gain changing factor Condition State
Position deviation, feedback speed
Command frequency, command
speed Reference value level or over P control
Reference value level or less PI control
External signal switch
(CONT signal switch) ON P control
OFF PI control
To apply the brake from an external unit, arrange the P control state.
PA1_92 and 93 Friction compensation settings
No. Name Setting range
Default
value
Change
92 Speed range for friction compensation 0.1 [r/min] to 20.0 [r/min] 10.0 Always
93
Coulomb friction torque for friction
compensation 0 [%] to 50 [%]
0 Always
Specify in a system with reversing speeds if smooth reversing motions are not obtained due to friction.
Specify the speed at which static friction changes to dynamic friction, in these parameters.
Set PA1_92 (speed range for friction compensation) at about 1.0 [r/min] to 10.0 [r/min].
Set PA1_93 (Coulomb friction torque for friction compensation) at the torque equivalent to dynamic
friction (Coulomb friction).
Friction compensation is disabled if the friction compensation torque reference value is 0.
PA1_94 Torque filter setting mode
No. Name Setting range
Default
value
Change
94
Torque filter setting mode 0: Do not configure the torque filter
automatically in auto tuning.
1: Configure the torque filter automatically in
auto tuning.
1 Always
This parameter is enabled under position and speed control.
Select either to automatically set the torque filter automatically or not during auto tuning operation.
Set at 0 (not set automatically) to manually specify PA1_59 (torque command filter) without relations to
the setting of PA1_13 (tuning mode selection).
Set at 1 (set automatically) to automatically adjust inside the amplifier in other than the manual tuning
mode.