− App.
37
−
Appendixes
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
※ See page 38 in Appendix.
PrNo.
Parameter
Value
Function
・You can define the response characteristics
of position control. Higher the gain you set,
quicker the in-position time you can obtain.
・To obtain the overall response of the servo sys-
tem together with the above position gain, set
this gain as large as possible.
・Integration element of the velocity loop. The
smaller the setting, the quicker you can reduce
the velocity error to 0, after stopping.
・The integration is disabled by setting this to
1,000.
・You can set-up the time constant of low-pass filter(LPF)
in 6 stages(0 to 5), which is inserted after the block , and
which converts the encoder signal to the velocity signal.
・The higher the value you set-up, the smaller the noise
you can obtain, however, it is usually recommended
to use the default value (4).
・You can set-up the time constant of the primary delay
filter that is inserted to the torque command portion.
・Use this function to suppress the oscillation caused
by torsion resonance.
You can set-up the amount of velocity feed forward at
position control. Position error becomes almost 0 while
the motor runs at a constant speed, by setting this to
100%. The higher the setting you make, the quicker
the response you can obtain with smaller position error,
however, it may cause overshoot.
・You can set-up the time constant of the pri-
mary delay filter that is inserted to the velocity
feed forward portion.
・Use this function to reduce the over and un-
dershoot of the speed, chattering of the in-po-
sition signal.
ー
10
11
12
13
14
15
16
17
1st position
loop gain
1st velocity
loop gain
1st speed
detection
filter
Feed forward
filter time
constant
(Reserved)
10 〜
2000
【50】
1 〜
3500
1 〜
1000
【50】
0 〜 5
【4】
0 〜
2500
0 〜
100
【0】
0 〜
6400
【0】
ー
1/s
Hz
※
ms
ー
0.01ms
%
0.01ms
ー
1st velocity
loop integration
time constant
1st torque filter
time constant
1st torque filter
time constant
Velocity feed
forward
Unit
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