Maxsine EP3 AC Series, User Manual

Page: 138 / 246

Chapter 5 Parameters
128
 When the parameter is 3 , 4 or 5.The concrete control mode depends on the CMODE of DI
inputs:
P004 CMODE[Note] Control mode
3 0 Position control
1 Speed control
4 0 Position control
1 Torque control
5 0 Speed control
1 Torque control
Note: 0 indicates OFF; 1 indicates ON.
P005 First gain of speed loop
Range
Default
value
Unit
Usag
e
1 ～ 3000 40 Hz P,S
 This is the proportion gain of the speed regulator. Increases the parameter value, can make
the speed response to speed up. It is easy to cause the vibration and the noise when the
value is too large.
 If the P017 (load inertia ratio) is a correct value then the parameter value is equal to the
speed response bandwidth.
P006
First integral time constant of speed
loop
Range
Default
value
Unit
Usag
e
1.0
～
1000.0 20.0 ms P,S
 This is the integral time constant of the speed regulator. Reduces the parameter value, can
reduce the speed control error, and increase rigidity. It is easy to cause the vibration and the
noise when the value is too small.
 If using the maximum value (1000.0) indicates the integral function to be canceled. The
speed regulator becomes the P controller.
P007 First filter time constant of torque
Range
Default
value
Unit
Usag
e
0.10
～
50.00 2.50 ms ALL
 This is the low pass filter of torque and can suppress the vibration of the machinery.
 The bigger the value, the better effect of suppression achieves. The response will slow down.
It is easy to cause oscillation if the value is too large. The smaller the value, the quicker
response achieves, but can be limited by mechanical condition.
 When the load inertia is small, can set a small value; the load inertia is big, can set a big
value.
P009 First gain of position loop
Range
Default
value
Unit
Usag
e
1
～
1000 40 1/s P

This is the proportional gain of the position regulator. Increases the parameter value, can