27
ELD2-RS70** User Manual
14
850
30
125
15
800
31
100
Pr1.04
2nd Time Constant of torque filter
Range
unit
default
Related
control mode
0 -2500
0.01ms
126
P
S T
Pr1.05
2nd gain of position loop
Range
unit
default
Related
control mode
0 -30000 0.1/s
380
P
Pr1.06
2nd gain of velocity loop
Range
unit
default
Related
control mode
0 -32767 0.1Hz
180
P
S
T
Pr1.07
2nd Time Constant of Velocity Loop
Integration
Range
unit
default
Related
control mode
0 -10000 0.1ms
10000
P
S T
Pr1.08
2nd Filter of Velocity Detection
Range
unit
default
Related
control mode
0 -31
-
15
P
S T
Pr1.09
2nd Time Constant of torque filter
Range
unit
default
Related
control mode
0 -2500
0.01ms
126
P
S T
Position loop, velocity loop, velocity detection filter, torque command filter have their 2 pairs of gain
or time constant(1st
and 2nd).
Pr1.10
Velocity feed forward gain
Range
unit
default
Related
control mode
0 -1000
0.1%
300
P
Multiply the velocity control command calculated according to the internal positional command by
the ratio of this parameter and add the result to the speed command resulting from the positional
control process.
Pr1.11
Velocity feed forward filter
Range
unit
default
Related
control mode
0 -6400
0.01ms
50
P
Set the time constant of 1st delay filter which affects the input of speed feed forward.
(usage example of velocity feed forward)
The velocity feed forward will become effective as the
velocity feed forward gain is gradually
increased with the speed feed forward filter set at approx.50 (0.5ms). The positional deviation during
operation at a constant speed is reduced as shown in the equation below in proportion to the value of
velocity feed forward gain.
Position deviation [ unit of command]=command speed [ unit of command /s]/position loop
gain[1/s]×(100-speed feed forward gain[%]/100
Pr1.12
Torque feed forward gain
Range
unit
default
Related
control mode
0 -1000
0.1%
0
P
S
⚫
Multiply the torque control command calculated according to the velocity control command by
the ratio of this parameter and add the result to the torque command resulting from the velocity
control process.
⚫
To use torque feed forward, correctly set ratio of inertia. Set the inertia ratio that can be calculated
from the machine specification to Pr0.04 inertia ratio.
⚫
Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by
increasing the torque forward gain .this means that positional deviation can be maintained at near
0 over entire operation range while driving in trapezoidal speed pattern under ideal condition
where disturbance torque is not active.
