Cancelling the speed loop integral action may reduce the possibility of speed overshooting, but the servo response may also become slow. bit0 = 5, 6, 7, 8 indicates reverse actions; please refer to description of the function code P4-15 Associated parameter 6.11 Manual gain adjustment (applied) 6.11.1 Feedforward function Upon position control, it calculates the speed control command required for action based on the internal position command, and adds the speed command obtained by comparison with the position feedback to derive the speed feedforward; compared with feedback control, it can better reduce the position deviation and improve the responsiveness.
Calculation of the torque command based on the speed control command and addition of the torque command obtained by comparison with the speed feedback to derive the torque feedforward can improve the responsiveness of the speed control system. 63 Technical Manual for EA190 Series Servo Driver V100 command high exceeds P4 18+lagging, the speed loop integral action is cancelled. _ When it is currently at the second gain and the absolute value of the speed command is smaller than P4 18-lagging, the speed loop integral action is restored.
_ * The lagging value of speed command is 10rpm 4 Actual speed high When it is currently at the first gain and the absolute value of the motor speed exceeds P4 18+lagging, the speed loop integral action is cancelled. _ When it is currently at the second gain and the absolute value of the motor speed is smaller than P4 18-lagging, the speed loop integral action is restored. _ * The lagging value of motor speed is 10rpm Function code Parameter name Function P4-16 Gain switching time When the gain switching condition is satisfied, the gain value will switch from the current stage linearly to the target gain within the time.
P4-18 Gain switching threshold Reference value for determining whether the gain switching condition is satisfied. * The unit of the parameter setting depends on P4-15 P4-19 Change coefficient of the 2nd position loop gain The second position loop gain = P4 02*P4 19 _ _ P4-20 Change coefficient of the 2nd speed loop gain The second speed loop gain = P4 03*P4 20 _ _