Technical Manual for EA350 Analog Pulse Type Servo Driver V101 *: For models of EA350-6R2-□B and below, the factory setting is 13, and for those above, the factory setting is 11. Parameter functions: Set the position regulator gain APR_P to determine responsiveness of the position control system. The greater the set value of APR_P is, the higher the response frequency is, the better the position command followability is, the smaller the position error is, and the shorter the position adjustment time is. However, it shall be noted that if the value is set too great, vibration may be caused. Parameter functions:
Set the speed regulator gain ASR_P to determine responsiveness of the speed control loop. The greater the set value of ASR_P is, the higher the speed loop response frequency is and the better the position command followability is. To increase the position loop gain for improvement of the servo system responsiveness, it is required to increase the set value of the speed loop gain. However, it shall be noted that if the value is set too great, vibration may be caused. The speed loop response frequency must be 4~6 times higher than that of the position loop; otherwise vibration may be caused.
Position loop response frequency fp= APR _ P / 2π Speed loop response frequency fv= ASR _ PЧP4 _10 Parameter functions: Set the speed loop differentiation time constant; when the set value is 0.0, there will be no differentiation action. Differentiation shall be carefully used. Use of differentiation may be considered when commands fluctuate but stable output is desired. Besides it shall be used in combination with P4-26 differentiation output limit to avoid severe differentiation resulting in system oscillation. Parameter functions: Set the speed loop integral time constant; when the set value is 3000.0, there will be no integral action.
The smaller the set value is, the closer to 0 the deviation is upon stop; however, if the value is set too small, vibration may be caused. Generally, greater load inertia and mechanical resonance shall correspond to a larger setting of the speed loop integral time constant. If setting of the load inertia ratio P4-10 is consistent with the actual conditions, the following formula can be used to derive the speed loop integral time constant ASR_T i :
154 P4-02 P4-03 P4-05 P4-29 P4-01 Position loop proportional Speed loop proportional Speed loop integral time Torque command low-pass gain 1/s gain, Hz constant, ms smoothing constant, ms 19 162.0 90.0 8.0 0.25 20 206.0 115.0 7.0 0.20 21 251.0 140.0 6.0 0.16 22 305.0 170.0 5.0 0.13 23 377.0 210.0 4.0 0.11 24 449.0 250.0 4.0 0.09 25 500.0 280.0 3.5 0.08 26 560.0 310.0 3.0 0.07 27 610.0 340.0 3.0 0.07 28 660.0 370.0 2.5 0.06 29 720.0 400.0 2.5 0.06 30 810.0 450.0 2.0 0.05 31 900.0 500.0 2.0 0.05 P4-02 Position loop gain APR P _ Initial value 48.0 Communication address 0402H Unit 1/s Time of taking effect With immediate effect Setting range 1.0~2000.0 Data size 16bit Control mode P P4-03 Speed loop gain ASR-P Initial value 27.0 Communication address 0403H Unit Hz Time of taking effect With immediate effect Setting range 0.1~5000.0 Data size 16bit Control mode P S P4-04 Speed ring differential time constant ASR Td _ Initial value 0.0 Communication address 0404H Unit ms Time of taking effect With immediate effect Setting range 0.1~3000.0 Data size 16bit Control mode P S P4-05 Speed loop integral time constant ASR Ti _ Initial value 21.0 Communication address 0405H Unit ms Time of taking effect With immediate effect Setting range 0.1~3000.0 Data size 16bit Control mode P S