FATEK SD3 Series, Инструкция по эксплуатации, Страница: 319 / 396

27 SD3 Series Instruction Manual
Tuning
7
7. Tuning
3. Tuning Parameters
3. Tuning Parameters
Function
With this parameter, a set of the tuning parameters can be set to their defaults all at
once�
(*1)
Increasing the value of this parameter will improve the command response, position
deviation during motion, settling time, and control rigidity�
Parameter Set
No�113�0
(Position Control Mode)
Control level No�114�0
Control Gain 1 No�115�0
Control Gain 2 No�116�0
Integral gain No�119�0
Torque command filter:
Low-pass filter time constant (*2)
No�162�0
No�129�0
(Velocity Control Mode)
Control level No�130�0
Control Gain 1 No�131�0
Integral gain No�133�0
Torque command filter:
Low-pass filter time constant (*2)
No�162�0
Remark
Too high a setting will cause noise�
When increasing the value, check the resulting operation to avoid oscillation or vibration�
Tuning Tip
• Set the value to 5 first to fix the inertia ratio�
• Gradually increase the setting value while watching the motion�
If noise occurs, use a notch filter or decrease the low-pass filter setting�
Page 42 Torque Command Filter: Notch filter
Page 43 Torque Command Low-Pass Filter
*2) This is when Low-pass filter auto Setting (160�2) = 1 (auto setting ON)
Control gain set settings
Command
Responsiveness
Rigidity Settling Time Noise
5 Slow Low Long Unlikely
10
↑
↓
↑
↓
↑
↓
↑
↓
15
(Default)
20
30
Quick High Short Likely
Under the Auto Tuning tab, tick the detail setup box, and then select from 1-46 one by one�
*1) In the "Servo Studio" parameters grouped in the control gain set are highlighted in green�
Control Gain Set
6HUYR6WXGLR 6HUYR6WXGLR