OE Max Controls CSDP Plus, Руководство пользователя

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To set up position control-related gains, please follow the commands
below.
1. Set the default position loop proportional gain at SEt-04. The setting
range is 0 to 500 rad/s and the default value is 60.
2. Slowly raise the value of speed loop proportional gain (SEt-02).
3. Lower the value of speed loop proportional gain to 80 to 90% if vibration
or noise is generated from the load.
4. Raise the value of position loop proportion gain as high as possible in the
transient period as long as no vibration or noise is generated.
5. Raise the value of speed loop integral gain (SEt-03) gradually while
watching the responses in the transient period such as overshoot,
completion time, vibration or noise. If it is set too low, the response can
drop. But if it is too high, vibration or noise can be generated.
6. When necessary, the value of position command filter (SEt-35) can be
lowered to restrain transient change of the position command.
7. It is desirable to set the value of torque command filter (SEt-06) as high as
possible as long as no vibration is generated from the load.
Methods to Get Quick Responses
Position Feedforward Function
Position feedforward applies the differentiated element of the position
command to speed command in the position control mode by way of
feedforward. Consequently, transient response characteristics are
improved and the position decision time is reduced.
Set the position feedforward gain at SEt-34. The
setting range is 0 to 100% and the default value is
0. Setting the value high will improve the response
of the position control.
Position feedforward filter restrains the high frequency element in the
position command to soften the position command itself.
Set the feedforward filter at SEt-07. The setting
range is 0 to 5000 rad/s and the default value is 0. If
its value is 0, position feedforward filter will not be
used. When the value of the torque command filter (SEt-06) is set high,
if overshoot or excessive vibration occurs, please lower the value of
the position feedforward filter.