Fuji Electric ALPHA7, User Manual

Page: 221 / 662

CHAPTER 4 PARAMETER
4-30
Control Gain and Filter Setting Parameters
4
4.3 Control Gain and Filter Setting Parameters
Parameters marked "

" in the "Power" field is enabled after the control power is turned off
then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is
unlit when the control power is turned off.)
4.3.1 List (PA1_

)
Default value: *** Determined in auto tuning.
No.
PA1_
Name
Default
value
Power
Control mode
Record of
reference value
Position Speed Torque
51
Moving average S-curve time
*** -

- -
52
Low-pass filter (for S-curve) time constant
0.0 -
 
-
53
Command pulse smoothing function
0 -  - -
54
Position command response time constant
*** -  - -
55
Position loop gain 1
*** -  - -
56
Speed loop gain 1
*** -   
57
Speed loop integration time constant 1
*** -   
58
Feed forward gain 1
0.000 -

- -
59
Torque filter time constant for position and speed
control
*** -
 
-
60
Torque filter time constant for torque control
0.00 - - - 
61
Gain changing factor
1 -   -
62
Gain changing level
50 -   -
63
Gain changing time constant
1 -   -
64
Position loop gain 2
100 -  - -
65
Speed loop gain 2
100 -   
66
Speed loop integration time constant 2
100 -
  
67
Feed forward gain 2
100 -  - -
70
Automatic notch filter selection
1 -   -
71
Notch filter 1, frequency
4000 -   -
72
Notch filter 1, attenuation
0 -
 
-
73
Notch filter 1, width
2 -
 
-
74
Notch filter 2, frequency
4000 -   -
75
Notch filter 2, attenuation
0 -   -
76
Notch filter 2, width
2 -   -
77
Automatic vibration suppression selection
0 -

- -
78
Vibration suppressing anti resonance frequency 0
300.0 -  - -
79
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 0
0 -  - -
80
Vibration suppressing anti resonance frequency 1
300.0 -

- -
81
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 1
0 -  - -
82
Vibration suppressing anti resonance frequency 2
300.0 -

- -
83
Vibration suppressing workpiece inertia ratio
(vibration suppressing resonance frequency) 2
0 -

- -
84
Vibration suppressing anti resonance frequency 3
300.0 -

- -