Nidec Control Techniques Digitax-SF DA21223, Instruction Manual, Page: 199 / 386

62
5. Settings
Digitax SF I
nstruction Man
ual
５. Parameters
No. 132.0
Tuning:
Velocity control mode - Gain FF compensation 1
Range Default Characteristics
0 to 15,000
0
[rad/s]
Function
Use
Set
Feed
Forward Compensation Rate with respect to Control Gain 1 for
Velocity Control Mode.
Increase the value of this parameter to provide faster command response. In the event of noise,
decrease the setting
by a small amount
.
Prerequisite Velocity Control Mode
Related To No. 129.0, No. 130.0, No. 131.0, No. 133.0, No. 162.0
No. 133.0
Tuning:
Velocity control mode - Integral gain
Range Default Characteristics
45 to 5,000
300
[rad/s]
Function
Use
Set the Integral Gain for Velocity Control Mode.
Increase the value of Integral Gain to improve the convergence (interfered by friction or load fluctuation)
at the time of settling, and reduce position
errors
.
This will result in rigid and sensitive motion.
Noise Solutions
① Use Torque command filter: Notch filter (such as 160.1).
② Decrease the value of Integral Gain .
Prerequisite Velocity Control Mode
Remark
This parameter will reset to the prearranged value if Inertia conditions or Control Gain Set is
changed.
Related To No. 129.0, No. 130.0, No. 131.0, No. 132.0, No. 162.0
No. 144.0
Torque command limit:
Switch
Settings Default Characteristics
0, 1 0
Function
Use
Enable/Disable Torque Command Limit
Settings Selection
Error Detection
Position
error
: 65.0
Speed
error
： 65.1
Error Detection Value： 87.0, 90.0
Delay time： 89.0, 91.0
0 Disable - -
1 Enable
0（Disable） -
１（Enable） Select an appropriate value.
If you are to select 1 for this parameter, configure the above settings so that Position error (Alarm
No.6) and Speed error (Alarm No.5) will be avoided.
Related To No. 65.0, No. 65.1, No. 87.0, No. 89.0, No. 90.0, No. 91.0
7
Tuning
7
Tuning
-
-
-