User Manual Of EL7-EC** AC Servo
218
d)
Increase torque filter time
Pr1.00
Name
1
st
position loop gain
Mode
PP
HM
CS
P
Range
0~3000
0
Unit
0.1/s Default
320
Index
2100h
Activation
Immediate
Higher position loop gain value improves the responsiveness of the servo driver and lessens the
positioning time.
Position loop gain value shouldn’t exceed responsiveness of the mechanical system and take in
consideration velocity loop gain, if not it might cause vibration, mechanical noise and overtravel.
As velocity loop gain is based on position loop gain, please set both values accordingly.
Recommended range: 1.2
≤
Pr1.00/Pr1.01
≤
1.8
Pr1.02
Name
1
st
Integral Time Constant
of Velocity Loop
Mode
F
Range
1~10000 Unit
0.1ms Default
310
Index
2102h
Activation
Immediate
If auto gain adjusting function is not enabled, Pr1.02 is activated.
The lower the set value, the closer the lag error at stop to 0 but might cause vibration. If the
value set is overly large, overshoot, delay of positioning time duration and lowered
responsiveness might occur.
Set 10000 to deactivate Pr1.02.
Recommended range: 50000
≤
PA1.01xPA1.02
≤
150000
For example: Velocity loop gain Pr1.01=500(0.1Hz), which is 50Hz. Integral time constant of
velocity loop should be 100(0.1ms)
≤
Pr1.02
≤
300(0.1ms)
Pr1.04
Name
1
st
Torque Filter Time
Constant
Mode
F
Range
0~250
0
Unit
0.01ms Default
126
Index
2104h
Activation
Immediate
To set torque command low-pass filter, add a filter delay time constant to torque command and
filter out the high frequencies in the command.
Often used to reduce or eliminate some noise or vibration during motor operation, but it will
reduce the responsiveness of current loop, resulting in undermining velocity loop and position
loop control. Pr1.04 needs to match velocity loop gain.
Recommended range: 1,000,000/(2π×Pr1.04)
≥
Pr1.01×4
For example: Velocity loop gain Pr1.01=180(0.1Hz) which is 18Hz. Time constant of torque filter
should be Pr1.01
≤
221(0.01ms)
If mechanical vibration is due to servo driver, adjusting Pr1.04 might eliminate the vibration. The
smaller the value, the better the responsiveness but also subjected to machine conditions. If the
value is too large, it might lower the responsiveness of current loop.
With higher Pr1.01 value settings and no resonance, reduce Pr1.04 value;
With lower Pr1.01 value settings, increase Pr1.04 value to lower motor noise.
