HarmonicDrive H A - 800A, Manual

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3-5 Manual gain adjustment method
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Star
tup
Block diagram of feed-forward control function
Parameters
The following parameters are used for feed-forward control.
Parameter No. Description Default
SP69
*1
Feed-forward control function setting *2
AJ03 Feed-forward gain 0
AJ20 Feed-forward filter 1
AJ21 Load inertia moment ratio 100
AJ22 Torque constant compensation factor 100
AJ23 Spring constant compensation factor 100
*1: Changes to system parameter settings (SP00 to 79) are put into effect by changing the setting, then
turning control power supply OFF, then ON again.
*2: The default varies depending on the applicable actuator. Refer to [Default settings] (Apx-1) in the
appendix.
Adjustment details

Feed-forward control function setting (SP69)
・
Setting details
This sets the responsiveness when [SP69: Feed-forward control function setting] is [2, 3, or
4].The appropriate feed-forward filter frequency is set automatically based on the machine’s
resonance frequency due to the rigidity of the speed reducer in the actuator and the load
inertia moment ([AJ21: Load inertia moment ratio]).
When [SP69: Feed-forward control function setting] is [0, 1, or 5], [AJ20: Feed-forward filter]
can be set to any desired value.
・
Adjustment method
Normally, set [SP69=3: Normal operation mode].From the vibration and responsiveness, set
the appropriate operation mode, referencing the table below. The vibration and
responsiveness are greatly affected by [AJ03: Feed-forward gain].Also, for a low inertia ratio
(when [AJ21: Load inertia moment ratio] is 20 or less), vibration occurs particularly easily.
When the responsiveness is not satisfactory with [SP69=4: High-speed operation mode], you
can also adjust the feed-forward filter manually with [SP69=5: Manual tune mode].Only use
[SP69=1: Feed-forward control] when [SP69=5: Manual tune mode] cannot produce
satisfactory results.
Vibration Responsiveness
SP69=2: Stable operation mode Small Low speed
SP69=3: Normal operation mode Medium Medium speed
SP69=4: High-speed operation mode Large High speed
HA-800A driver
Position
command
Speed feedback
Actuator
Position feedback
Feed-forward
control part
Differen-
tiation
Position
control part
Speed control
part
Power
amplifier
Mechanical load
system
Encoder