Tsino Dynatron EtherCAT CoolDrive RC Series, Руководство пользователя

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Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.
Acceleration Feedforward Torque Compensation Function 8.2.4
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
Number Index Name Unit Setting range
Default
value
Effective
time
25 0x2028
Acceleration
Feedforward
Gain
‰ 0~2000 200 Immediately
Parameter description: The adjustment of the acceleration feedforward gain is the same as that of other gains.
The bigger the value, the better the responsiveness. However, a too big value may cause mechanical vibration.
User permission:
User/Engineer
Parameter permission: Read and Write
Filter Adjustment
8.3
The filter is mainly used to suppress vibration. According to the frequency selection effect, filters can be
classified into low-pass filters, high-pass filters, band-pass filters and band-stop filters. Here, we mainly introduce
low-pass filters. As shown in Figure 9.3 (1), with frequency from 0 to f2, low-pass filters have linear
amplitude-frequency characteristics, which means components of signals with frequency less than f 2 can pass
without attenuation, while those with frequency higher than f 2 will be attenuated greatly.
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