98
P1.94
Torque filter setting mode
Default value
1
Setting range
Setting value
P1.59
P1.87
0
Do not set automatically
Set automatically.
1
Set automatically.
Set automatically.
2
Do not set automatically
Do not set automatically
3
Set automatically.
Do not set automatically
This parameter is enabled under position and speed control.
Select either to set P1.59 (torque filter time constant) and P1.87 (model torque filter time constant)
automatically or not in other than the manual tuning mode.
Se
lect “do not set automatically” to manually specify P1.59 (torque filter time constant) and P1.87 (model
torque filter time constant) regardless of the setting of P1.13 (tuning mode selection).
When “1(set automatically)” is selected, the parameter is automatically adjusted in the servo motor drive in
other than the manual tuning mode.
The setting of P1.87 (model torque filter time constant) becomes disabled when P1.13 (tuning mode
selection) is set to “14” (trace operation motion).
P1.95
Model torque calculation and speed observer selection
Default value
3
Setting range
Setting
Model torque calculation
Speed observer
0
Disable
Disable
1
Enable
Disable
2
Disable
Enable
3
Enable
Enable
This parameter is enabled under position and speed control.
Select whether model torque calculation and speed observer are enabled or disabled.
If model torque calculation is disabled, the torque feed forward calculation using a model of moment of inertia
of load is disabled.
Use the parameter to perform position and speed control at the host controller.
Select "enable" for speed observer during regular operation. Speed compensation is made and stability is
improved.
Parameters related to response of the control system are automatically adjusted according to the
setting of
auto tuning 1 or 2. However, the function of P1.54 (position command response time constant) is canceled
internally.
P1.96
Speed limit gain for torque control
Default value
4.0
Setting range
0.0~50.0
This parameter is enabled under torque control.
If the rotation speed exceeds the reference value of P1.26 (maximum rotation speed (for torque control))
under torque control, the command torque is reduced so that the rotation speed becomes near the reference
value. At this time, an error is caused in the rotation speed in relation to the reference value. Take into
consideration that the parameter adjusts the error. While a larger reference value decreases the error,
excessive value will cause instability.
