EA180 Series Servo Drive Users Manual 6.10.1 Position control mode adjustment The position control mode of the EA180 series is shown in the position control mode block diagram in Section 6.1. The position control mode is performed in the following order. 1) Enable the servo drive. 2) Set P4-00 to 0. 3) Use default values for all gain parameters 4) Input P4-10 load inertia ratio. It can be identified by the drive through the AF-05 function (with restrictions) or calculated by users. 5) The values in the following table are used as a standard for adjustment.
6.10.2 Speed control mode adjustment The speed control mode of the EA180 series is shown in the speed control mode block diagram in Section 6.2. The adjustment of the speed control mode is basically the same as that of the position control mode, except that the adjustment of the position loop gain P4-02 and the speed feedforward gain P4-06 are not required. 6.10.3 Torque control mode adjustment The torque control mode of the EA180 series is shown in the torque control mode block diagram in Section 6.3. The torque control is actually based on speed control, so users mainly set the torque limit and speed limit.
In torque control, reverse direction means that the motor rotation direction is opposite to the torque command direction. This happens when an external device applies reverse traction force. In this case, the motor is in a continuous power generation state and the drive will give Al017 alarm. Please be sure to equip an appropriate external braking resistor and correctly set the values of P8-10, P8-11 and P8-13 according to the parameters of the braking resistor. The speed limit value works only in the torque command direction.
When the motor is pulled back by an external device, the drive only controls the output torque of the motor, and the speed of the motor depends on the external device. In the torque command direction, when the motor speed reaches the limit value, the drive will switch from torque control based on the torque command to speed control based on the speed limit command. In order to ensure stable operation when the speed is limited, the speed loop parameters need to be set according to the speed control mode adjustment.
When the speed limit value is too low, the speed loop gain is too low, or the speed loop integration time constant is 3000.0 (integration is invalid), sometimes the torque cannot be output as commanded if the torque limit input becomes small. 66 Sequen ce Paramete r Parameter name Standard value Adjustment method 1 P4-03 Speed loop gain 18.0 Increase the value within the range where no abnormal sound or vibration occurs. Decrease the value when noise occurs. 2 P4-31 Torque command filter 1.26 In order to suppress the vibration after motor stops, increase P4-03 and decrease P4-31. In the case of too severe vibration at the moment of stop, try to decrease P4-31.
3 P4-02 Position loop gain 32.0 Observe the positioning time and adjust the value. If the value is increased, the positioning time will be shortened. However, vibration will occur when the value is too large. 4 P4-05 Integral time constant of speed loop 31.0 No need to adjust if there is no problem with the action. When the value is decreased, the positioning time will become shortened, and if the value is too small, vibration will occur. If the value is too large, the position deviation may diverge. Increase the value within the range where no abnormal movements and sounds occur.
5 P4-06 Speed feedforward gain 30.0 When the feedforward is set too large, the setting time may not be shortened due to the occurrence of overshoot and the jitter of the positioning completion signal. When the command pulse input is uneven, it can be improved by increasing the set value of P4-07.