Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Parameter description: Velocity feedforward gain 1 is a parameter opened for shortening the velocity loop
setting time. Increasing velocity feedforward gains can improve position following error, but too big values may
cause mechanical vibration.
User permission:
User/Engineer.
Parameter permission: Read and Write
Number Index Name Unit Setting range
Default
value
Effective
time
46 0x2043
Position Control
Integration time
constant
0.001 0~ 2000 1 Immediately
Parameter permission: This parameter is valid when parameter 0x2040 is set to 0. The smaller the set value
of position control integration time, the better responding to the position commands. However, due to the constraint
of mechanical characteristics, a small set value may cause vibration and noise. Increasing the position control
integration time can reduce the position overshoot during positioning, but a too high value may slow down the
system response.
User permission:
User/Engineer.
Parameter permission: Read and Write
Current Regulator 8.2.3
The current loop is the innermost loop in the servo control, which is completed inside the servo drive, without
being influenced by mechanical rigidity. Therefore, the current loop can be fully optimized theoretically.
Responsiveness of the current loop should be higher than that of the other two loops, otherwise system vibration
may be caused.
Number Index Name Unit Setting range
Default
value
Effective
time
51 0x2048
Current Control
Gain 1
‰ 100~2147483647 3000 Immediately
Parameter description: Adjusting the current control gain 1 can speed up the system response. The higher
the current control gain, the smaller the integration time constant, the better the response, and vice versa.
User permission: User/Engineer
Parameter permission: Read and Write
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