HarmonicDrive H A - 800A, Руководство пользователя

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7-6 Details of tune mode
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AJ20: Feed-forward filter
Set the filter frequency to be used in feed-forward control.
Setting a higher value increases the response, but mechanical shock or vibration (hunting) will occur more easily
if the value is too high. (Refer to [Applied servo gain adjustment function] (P3-18).)
Set value Function Unit Default
1 to 2000 Set the filter frequency. Hz 1
Relational items AJ03, AJ21, AJ22, AJ23, SP69

When using the feed-forward control function, be sure to reference [Applied
servo gain adjustment function] (P3-18) and understand the notices.
AJ21: Load inertia moment ratio
Set the load inertia moment ratio relative to self-inertia moment to be used in feed-forward control. Feed-forward
control is performed based on the value set here. (Refer to [Applied servo gain adjustment function] (P3-18).)
Set value Function Unit Default
1 to 1000 Sets the load inertia moment ratio. % 100
Relational items AJ03 , AJ20, AJ22, AJ23, SP69

When using the feed-forward control function, be sure to reference [Applied
servo gain adjustment function] (P3-18) and understand the notices.
AJ22: Torque constant compensation factor
Variation in the actuator torque constant used in feed-forward control is compensated for.
Feed-forward control is performed based on the value set here. (Refer to [Applied servo gain
adjustment function] (P3-18).)
Set value Function Unit Default
1 to 200
Set the torque constant compensation factor
for the actuator.
% 100
Relational items
AJ03 , AJ20, AJ21, AJ23, SP69

When using the feed-forward control function, be sure to reference [Applied
servo gain adjustment function] (P3-18) and understand the notices.