Parameter functions: Set the first-order filtering time constant for speed feedback. The rotating speed of a motor is obtained through differentiation of the position fed back by the encoder. The rotating speed contains resonance and high-frequency disturbance signal. This parameter can be used to eliminate noise, but it can also cause delay and result in slow response of the loop. Parameter functions: Set the ratio of the 1st total inertia and the rotor inertia of the motor. P 4 10 J T / J M JT : Total inertia, i.e. load inertia + electronic rotor inertia, JM :
Motor rotor inertia When the inertia self-identification function can be used, this parameter can be obtained through inertia self-identification. Upon setting, the user shall make sure the set value is basically consistent with the actual conditions. When manual gain setting is used, the user needs to adjust the speed loop gain based on operating conditions of the machine; if relatively accurate data cannot be obtained, the factory setting can be used without this parameter ignored. Parameter functions: Set the ratio of the 2nd total inertia and the rotor inertia of the motor.
The system can be switched immediately via the functional terminal J_SEL to use of the second load inertia ratio P4-11. When the gain is set to the automatic adjustment mode, i.e. P4-00 = 2, 3 or 4, this function is invalid. When switching to the second load inertia ratio: If P4-00 = 0, the driver will continue using such gain parameters as P4-02, P4-03 and P4-05 (note that the speed loop response frequency is the product of the speed loop gain multiplied by the inertia ratio); If P4-00 = 1, the driver will automatically calculate the gain parameter based on the second inertia ratio and rigidity. Parameter functions:
When this parameter is set to 0, it means an IP controller is used; when it is set to 100, it means a PI controller is used; when it ranges between 1~99, it means a PDFF controller is used. When an IP controller is used, the motor speed will have no or little overshooting, but the response is slow. When a PI controller is used, the motor speed will overshoot, but the response is quick.
The PDFF controller has combined features of the IP and PI controllers to reduce overshooting and improve system 128 Technical Manual for EA190 Series Servo Driver V100 P4-10 1st load inertia ratio Initial value 2.50 Communication address 040AH Unit - Time of taking effect With immediate effect Setting range 1.00~120.0 Data size 16bit Control mode P S T Caution☞ If the user cannot obtain relatively accurate load inertia ratio, then vibration, abnormal noise or alarm may occur when the following functions are enabled.
Acceleration feedback (P4-22 bit0) Speed observer (P4-22 bit3) Torque feedforward (P4-24, P4-25) External disturbance resistance (P4-28) P4-11 2nd load inertia ratio Initial value 1.00 Communication address 040BH Unit - Time of taking effect With immediate effect Setting range 1.00~120.0 Data size 16bit Control mode P S T J SEL valid Use the 2nd load inertia ratio P4-11 _ J SEL invalid Use the 1st load inertia ratio P4-10 Caution☞ 1. It is required to perform inertia switching upon stop of the servo motor; switching upon motor operation may cause vibration or oscillation; 2.
When the first inertia ratio differs largely from the second inertia ratio, even if the motor is stopped, oscillation may occur. It is required to confirm there is no vibration based on the actual conditions before use of this function. P4-12 PDFF control coefficient Initial value 100 Communication address 040CH Unit % Time of taking effect With immediate effect Setting range 0~100 Data size 16bit Control mode P