OE Max Controls CSDP Plus, User Manual

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Please set torque command filter at SEt-06. The
setting range is 0 to 60000 rad/s, and the default
value is 1800.
As the value is higher, the response can improve. But if it is set too
high, it can cause vibration. If the load is a belt or chain system, fast
response is not expected because of the lowered stiffness.
If speed control or position control related gain is raised excessively
when the value is set at lower torque command, it can oscillate. In the
case of these loads, it is hard to set the torque command filter higher
than 1000 rad/s. Please refer to the table below for set-up.
Speed Control Gain
Speed control gains include speed loop proportional gain, speed loop
integral gain, and speed command filter. The picture below shows the
application process of the speed control-related gains.
Raising the speed loop proportional gain can improve the response of
the speed control loop. Please set the value as high as possible within
a range that won’t cause vibration.
Speed loop integral gain can remove error at the steady state by
responding to even very small input. Raising the speed loop integral
gain can improve the response and reduce completion time. Please set
it low in an environment where the inertia of the load is big or
vibration can easily occur.
The speed command filter can limit the high frequency element in the
speed command to soften the speed command itself. If its value is 0,
speed command filter will not be used.
Load Type SEt-06
Directly-coupled Disk 4000
Ball Screw Coupled directly 2000 to 3000
Belt 500 to 1000