Technical Manual for EA350 Analog Pulse Type Servo Driver V101 Parameter functions: This parameter refers to the external disturbance compensation after disturbance observation. It can be used to reduce the speed variation upon load disturbance. Specifically: Torque after compensation = torque before compensation + observed disturbance *P4-28 When observed disturbance disappears, the torque compensation will be immediately withdrawn. When disturbance torque observed through the disturbance observer is added to the torque command percentage for use as compensation in the automatic gain mode (i.e. P4-00≠0) or the torque control mode, this function is invalid. Parameter functions:
Set the time constant for first-order low-pass filtering of torque command output by the speed regulator. Torque command output by the speed regulator may contain high-order harmonic component that is resulted from speed feedback fluctuation or other factors and may cause vibration of the motor. Low-pass filtering of the torque command can remove the high-order harmonic, but it may also cause phase delay and result in slow response of the motor. Parameter functions: This parameter is intended for first-order filtering of friction compensation value, so as to avoid mechanical vibration resulted from abrupt change of the compensation value.
Friction compensation values include values set by parameters P4-31, P4-32, P4-33 and P4-34. Parameter functions: Set the torque compensation value for viscous friction load. The larger the rotating speed is, the greater the viscous friction will be. Advance addition of the viscous friction load may improve the response. The set value refers to the increment required in the torque command value per 1,000rpm increment in the motor speed. See P4-34 Parameter functions: For vertical shaft scenarios with presence of gravity, this value can be converted into a set torque and added to the torque command setting. See P4-34 Parameter functions:
Sliding friction compensation upon forward rotation of the motor See P4-34 162 P4-28 External disturbance resistance gain Initial value 0.0 Communication address 041CH Unit % Time of taking effect With immediate effect Setting range -100.0~100.0 Data size 16bit Control mode P S P4-29 Torque command low-pass smoothing constant Initial value 1.26 Communication address 041DH Unit ms Time of taking effect With immediate effect Setting range 0.00~100.00 Data size 16bit Control mode P S T P4-30 Friction compensation smoothing time constant Initial value 50 Communication address 041EH Unit ms Time of taking effect With immediate effect Setting range 10~1000 Data size 16bit Control mode P S P4-31 Viscous friction compensation gain Initial value 0 Communication address 041FH Unit 0.1%/1000rpm Time of taking effect With immediate effect Setting range 0~1000 Data size 16bit Control mode P S P4-32 Addition to torque command Initial value 0.0 Communication address 0420H Unit % Time of taking effect With immediate effect Setting range -100.0~100.0 Data size 16bit Control mode P S P4-33 Torque compensation in the forward direction Initial value 0.0 Communication address 0421H Unit % Time of taking effect With immediate effect Setting range -100.0~100.0 Data size 16bit Control mode P S P4-34 Reverse torque compensation Initial value 0.0 Communication address 0422H Unit % Time of taking With immediate