Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Parameter functions: When the gain switching condition is satisfied, it is the proportional gain change rate of the target position regulator. Proportional gain of the target position regulator APR_P 1 =APR_РЧ (P4-19)Ч100% Parameter functions: When the gain switching condition is satisfied, it is the proportional gain change rate of the target speed regulator. Proportional gain of the target speed regulator ASR_P 1 = ASR_P Ч (P4-20) Ч 100% Parameter functions: Switch of the advanced suppression function. bitX=0: Function OFF bitX=1: Function ON Bit 0:
Acceleration feedback function The acceleration feedback function is to use the acceleration obtained by using software to differentiate speed feedback signal of a motor, multiplied by the acceleration feedback gain, to compensate the torque command. It is used to suppress oscillation of the speed ring. This function can stabilize the servo system when 50~150Hz vibration occurs if the flexible connection between the motor and the mechanical system is unstable, the load inertia is far greater than the motor inertia, or in other unstable conditions. When in the automatic gain adjustment mode (i.e. P4-00≠0) or the torque control mode, this function is invalid. Bit 1, 2, 3: Reserved Bit 4:
Speed observer function The speed observer estimates the status change of the object under control through software. When the mechanical system resonates at a frequency of above 100Hz, it can be used to remove the high-frequency vibration component, so as to stabilize the speed loop. When in the automatic gain adjustment mode (i.e. P4-00≠0) or the torque control mode, this function is invalid. Bit 5: Low noise mode When this function is enabled, the current loop gain will reduce to some extent, so that noise can be reduced Parameter functions: Set the cutoff frequency grade of the built-in speed observer.
The greater the set value is, the higher the cutoff frequency of the speed observer will be, and the wider range of vibration is to be suppressed, but the lower suppression effect will be rendered. Parameter functions: Set the value of the acceleration feedforward gain. The acceleration torque obtained through differentiation of the speed command, multiplied by this parameter, is then added to the torque command output by the speed regulator, which can improve the motor response. The rated torque is taken as reference. When in the automatic gain adjustment mode (i.e. P4-00≠0) or the torque control mode, this function is invalid.
160 P4-19 Change coefficient of the 2nd position loop gain Initial value 50 Communication address 0413H Unit % Time of taking effect With immediate effect Setting range 10~500 Data size 16bit Control mode P P4-20 Change coefficient of the 2nd speed loop gain Initial value 50 Communication address 0414H Unit % Time of taking effect With immediate effect Setting range 10~500 Data size 16bit Control mode P S P4-22 Suppression performance expansion 1 Initial value 000000B Communication address 0416H Unit - Time of taking effect With immediate effect Setting range 000000B~111111B Data size 16bit Control mode P S P4-23 Speed observer cutoff frequency grade Initial value 13 Communication address 0417H Unit - Time of taking effect With immediate effect Setting range 0~13 Data size 16bit Control mode P S P4-24 Torque feedforward gain Initial value 0.0 Communication address 0418H Unit % Time of taking effect With immediate effect Setting range 0.0~200.0 Data size 16bit Control mode P S P4-25 Torque feedforward filtering time constant Initial value 5.00 Communication address 0419H