DS100S AC Servo Manual
stronger. The parameter value is set according to your exact
servo driving system model and the load. Generally, the
greater the load inertia, the bigger the value.
3.Please set a little high value if the system condition does
not generate oscillation.
6
Velocity Integral Constant
1.To set the integration time constant.
2.The value is smaller, the integral speed is faster and the
ability of system in resisting deviation is stronger.But if it is
too small, it will happen over controlling.
1-1000ms
75
9
Position Proportional Gain
1.To set the proportional gain of position loop regulator.
2.The value is bigger, the gain is higher and its rigidity is
stronger. So the position lag is smaller under the same
frequency command pulse condition. But if it is too big, it will
happen oscillation.
3.The parameter value is set according to your exact servo
driving system model and the load.
1-1000/s
40
11
Number of output pulses
of 1 rotation turn of the
motor
1.Set the number of output pulses of 1 rotation turn of the
motor.
2.When set number “0”, PA-12(position command pulse
frequency divider) and PA-13(position command pulse
frequency) are effective.
0-30000
10000
12
The numerator of position
command pulse
1.To set the electric gear ratio in position command pulse.
2.In position control mode,it is convenient to match all kinds
of pulse source through set the parameter PA12 and PA13,
which helps to reach ideal control resolution(angle/pulse).
3. P×G=N×C×4
P: pulses of input command; G:electric gear ratio; N: motor
rotation number; C:number of photoelectric encoder in per
rotation, default value is 2500.
4.For example, input command pulse P is 6000, servo
motor rotate a roll: G=(N×C×4)/P=(1×2500×4)/6000=5/3,
So PA12 should be set to 5, PA13 should be set to 3.
0-32767
0
13
Denominator of position
command pulse
The same as the above
1-32767
10000
14
Position command pulse
input method
1.Set the method of position command pulse.
2. To set one of input methods through parameters:
0: Pulse+Direction
1: CCW pulse/CW pulse
2: phase A and phase B quadrature pulse input.
Remark: CCW: observe from the motor axial direction. It
defines CCW in counter clock wise and CW in clock wise.
0-2
0
15
Command Pulse Direction
Setting:
0:Normal
1:Reverse position command pulse pulse
0-1
0
19
Position
Command
Smooth Filter
1.To filter the command pulse. Acceleration and
deceleration are with exponential form. The value is time
constant.
0-30000*0.1m
s
300
