FujiFilm ALPHA 5 RYT-SX, User Manual

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CHAPTER 4 PARAMETER
4-24
Control Gain and Filter Setting Parameters
4
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.
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.
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).
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.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is other than 2
(manual tuning).
Command
Command pulse
smoothing
function
Control
section
Moving
average
S-curve time Low-pass filter
(for s-curve)
time constant