EA180 Series Servo Drive Users Manual Canceling the speed loop integral action will reduce the possibility of speed overshoot, but the servo response will slow down. bit0=5, 6, 7, 8 are opposite, please see the description of function code P4-15. Associated parameters 6.11 Manual gain adjustment (application) 6.11.1 Feedforward function In position control mode, the speed control command required for the action is calculated from the internal position command, and the speed command calculated by comparing with the position feedback is added to obtain the speed feedforward, which can reduce the position deviation and improve the responsiveness compared with the feedback control.
The torque command required for the action is calculated from the speed control command, and the torque command calculated by comparing with the speed feedback is added to obtain the torque feedforward, which can improve the responsiveness of the speed control system. Associated parameters 68 1 DI terminal input When the gain switching terminal (GAIN SEL) is valid, the speed loop integral action is cancelled. When the gain switching terminal (GAIN SEL) is invalid, the speed loop integral action is restored. * The integral action is always valid if no terminal is defined as GAIN SEL.
2 Large position deviation _ If it is at the first gain and the absolute value of the position deviation exceeds P4 18 + lag, the speed loop integral action is cancelled. _ If it is at the second gain and the absolute value of the position deviation is smaller than P4 18 + lag, the speed loop integral action is restored. _ * The lag value of position deviation is 100Pulse command units. 3 Large speed command If it is at the first gain and the absolute value of the position deviation exceeds P4 18 + lag, the speed loop integral action is cancelled. is smaller than P4 18 + lag, the speed loop integral action is restored. _ * The lag value of speed command is 10rpm.
4 High actual speed If it is at the first gain and the absolute value of the motor speed exceeds P4 18 + lag, the speed loop integral action is cancelled. _ If it is at the second gain and the absolute value of the motor speed is smaller than P4 18 + lag, the speed loop integral action is restored. _ * The lag value of motor speed is 10rpm. Function Parameter name Function code P4-16 Gain switching change time When the gain switching condition is satisfied, the gain value will linearly switch from the current range to the target gain value within this time period. P4-18 Gain switching threshold A reference value for judging whether the gain switching condition is satisfied or not.
* The unit of this parameter setting value is determined by the selection of P4-15. P4-19 Second position loop gain change coefficient Second position loop gain = P4 02*P4 19 _ _ P4-20 Second speed loop gain change coefficient Second speed loop gain = P4 03*P4 20 _ _ Function code Parameter name Function P4-06 Speed feedforward gain The speed control command calculated from the internal position command is multiplied by the ratio of this parameter, and the result is added to the speed command after the position control processing.