Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Figure 8.2-2. Diagram of velocity PI gain automatic switching
Roles of the velocity regulator adaptive control function:
1. It can be adapted to a higher gain to obtain a better command-following performance during the motor
running;
2. It can be adapted to a lower gain to suppress vibration when the motor stops and the servo is locked;
3. It can be adapted to a higher gain to shorten position setting time when the motor stops;
4. It can be adapted to a higher or lower gain according to different loads.
Number Index Name Unit Setting range
Default
value
Effective
time
82 0x2095
Acceleration
Feedforward
Control Switch
—
0x00000000~
0x00000101
0x00000001 Immediately
Byte0: Enable bit of acceleration feedforward torque compensation
0x00 - Disable the acceleration feedforward torque compensation control
0x01 - Enable the acceleration feedforward torque compensation control
Bytr0: Acceleration feedforward gain selection
0x00 - Manual setting
0x01 - Automatic setting
Byte2~3: Reserved
User permission: User/Engineer.
Parameter permission:
Read and Write
191