43
Digitax SF
Instruction Man
ual
Tuning
7
7. Tuning
3.
Tuning Parameters
3. Tuning Parameters
Function
Setting
a
relatively large value may suppress vibrations�
Parameter
Switch
160�0
Default:
1
Settings:
0–1
Auto setting
160�2
Default:
0
Settings:
0–1
Time constant 162�0
Default:
0 [0�01 ms/rad](
less than
100 W)
10 [0�01 ms/rad](
over
200 W)
Setting range:
0-65,535
Remark
Setting a larger value means getting closer to the control range of the response model:
another type of vibration will occur�
Tuning Tip
Set
Torque command filter: Notch filter switch
(160�1) =1 (enable)�
A rough estimate of possible max value for the filter can be obtained as follows�
=
(0�1 to 0�2)
max((ω1+ω2), ω
q
)
[s] or below
Position Control Mode
Velocity Control Mode
ω 1
Control Gain 1
115�0
Control Gain 1
131�0
ω 2
Control Gain 2
116�0
‐
‐
ω q
Integral Gain
119�0
Integral Gain
133�0
5
Setting List of Parameters
Torque Command Low-Pass Filter
Summary of Contents for Control Techniques Digitax-SF DA21223
Page 6: ...6 MEMO Digitax SF Instruction Manual ...
Page 23: ...17 MEMO Digitax SF Instruction Manual 1 Before Use 2 Overview ...
Page 283: ...48 MEMO Digitax SF Instruction Manual 6 Operation 5 Position Control Mode ...
Page 329: ...46 MEMO Digitax SF Instruction Manual 7 Tuning ...
Page 330: ...8 8 Troubleshooting 2 2 4 5 5 6 8 8 9 17 18 19 20 21 22 23 ...
Page 353: ...24 MEMO 8 Troubleshooting Digitx SF Instruction Manual ...