Sanyo Denki Q1AA04003D, Instruction Manual

Page: 80 / 266

５．Parameter
[Parameter setting value【Group1】]
5−8
Page Contents
Higher Tracking Control, Position Compensation Gain [TRCPGN]
04
Setting range Unit Standard
value
0
〜
100 % 0
Parameter to enhance following-up performance. The
larger value can make the following-up performance
higher. When the value other than 0% is set, position
command filter and feed forward gain are automatically
set.
Feed Forward Gain [FFGN]
05
Setting range Unit Standard
value
0
〜
100 % 0
Feed forward compensation gain at the time of position
control.
Feed Forward Filter [FFFIL]
08
Setting range Unit Standard
value
1
〜
2000 Hz 2000
Parameter to put primary low pass filter to feed forward
command. Sets the cut-off frequency.
Filter is disabled with the set value of 2000Hz.
Velocity Command Filter [VCFIL]
10 Setting range Unit Standard
value
1
〜
2000 Hz 2000
Parameter to put primary low pass filter to velocity
command. Sets the cut-off frequency.
Filter is disabled with the set value of 2000Hz.
Velocity Feedback Filter [VDFIL]
12
Setting range Unit Standard
value
1
〜
2000 Hz 1500
Parameter to put primary low pass filter to velocity
feedback. Sets the cut-off frequency. Filter is disabled with
the set value of 2000Hz.
Velocity Loop Proportional Gain 1 [KVP1]
13
Setting range Unit Standard
value
1
〜
2000 Hz 50
Proportional gain of velocity controller.
When auto-tuning result saving is executed, the tuning
result is automatically saved in this parameter.
Velocity Loop Integral Time Constant 1 [TVI1]
14 Setting range Unit Standard
value
0.5
〜
1000.0 ms 20.0
Integral time constant of velocity controller. When velocity loop proportional
control switching function is disabled, this set value is enabled.
Integral term (proportional control) is disabled with the set value of 1000.0ms.
When auto-tuning result saving is executed, the tuning result is automatically
saved in this parameter.
Load Inertia Ratio (Load Mass Ratio) 1 [JRAT1]
15
Setting range Unit Standard
value
0
〜
15000 % 100
Sets inertia moment of the loading device to the motor
inertia moment. Set value
＝
JL/JM
×
100%
JL
：
Load inertia moment
JM
：
Motor inertia moment
When auto-tuning result saving is executed, the tuning
result is automatically saved in this parameter.
Higher Tracking Control, Velocity Compensation Gain [TRCVGN]
16
Setting range Unit Standard
value
0
〜
100 % 0
Parameter to enhance following-up performance. The
larger value can make the following-up performance
higher. When velocity loop proportional control switching
function is used, set this to 0%.
Acceleration Feedback Gain [AFBK]
17
Setting range Unit Standard
value
-100.0
〜
100.0 % 0.0
Compensation function to make the velocity loop stable.
Multiply this gain with the detected acceleration to
compensate torque command. Setting unit is 0.1%.
Acceleration Feedback Filter [AFBFIL]
18
Setting range Unit Standard
value
1
〜
2000 Hz 500
Parameter to put primary low pass filter to acceleration
feedback compensation. Sets the cut-off frequency. Filter
is disabled with the set value of 2000Hz.
Torque Command Filter 1 [TCFIL1]
20
Setting range Unit Standard
value
1
〜
2000 Hz 600
Parameter to put low pass filter to torque command. Sets
the cut-off frequency.
When auto-tuning result saving is executed, the tuning
result is automatically saved in this parameter.
Torque Command Filter Order [TCFILOR]
21
Setting range Unit Standard
value
1
〜
3 Order 2
Parameter to set ordinal number of torque command filter.