Nidec Control Techniques Digitax-SF DA21223, Инструкция по эксплуатации

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43 Digitax SF
Instruction Man
ual
Tuning
7
7. Tuning
3.
Tuning Parameters
3. Tuning Parameters
Function
Setting
a
relatively large value may suppress vibrations�
Parameter
Switch 160�0
Default:
1
Settings:
0–1
Auto setting 160�2
Default:
0
Settings:
0–1
Time constant 162�0
Default:
0 [0�01 ms/rad]（
less than
100 W）
10 [0�01 ms/rad]（
over
200 W）
Setting range:
0-65,535
Remark
Setting a larger value means getting closer to the control range of the response model:
another type of vibration will occur�
Tuning Tip
Set Torque command filter: Notch filter switch (160�1) =1 (enable)�
A rough estimate of possible max value for the filter can be obtained as follows�
=
(0�1 to 0�2）
max(（ω１＋ω２）, ω
ｑ
)
[s] or below
Position Control Mode Velocity Control Mode
ω 1 Control Gain 1 115�0 Control Gain 1 131�0
ω 2 Control Gain 2 116�0 ‐ ‐
ω q Integral Gain 119�0 Integral Gain 133�0
5 Setting List of Parameters
Torque Command Low-Pass Filter