Parameter functions: Time constant for first-order low-pass filtering of acceleration torque The acceleration torque obtained through differentiation of the speed command contains a large quantity of high-order harmonic, and thus when it is added to the torque command, high-frequency vibration of the motor torque may be caused. Low-pass filtering of the acceleration torque before it is added to the torque command can remove high-frequency harmonic and reduce vibration. Parameter functions: When P4-04 speed loop differentiation is enabled, this parameter can limit the output value of the speed loop differentiation. Parameter functions:
This parameter refers to the external disturbance compensation after disturbance observation. It can be used to reduce the speed variation upon load disturbance. Specifically: Torque after compensation = torque before compensation + observed disturbance *P4-28 When observed disturbance disappears, the torque compensation will be immediately withdrawn. When disturbance torque observed through the disturbance observer is added to the torque command percentage for use as compensation in the automatic gain mode (i.e. P4-00≠0) or the torque control mode, this function is invalid. Parameter functions:
Set the time constant for first-order low-pass filtering of torque command output by the speed regulator. Torque command output by the speed regulator may contain high-order harmonic component that is resulted from speed feedback fluctuation or other factors and may cause vibration of the motor. Low-pass filtering of the torque command can remove the high-order harmonic, but it may also cause phase delay and result in slow response of the motor. Parameter functions: This parameter is intended for first-order filtering of friction compensation value, so as to avoid mechanical vibration resulted from abrupt change of the compensation value.
Friction compensation values include values set by parameters P4-31, P4-32, P4-33 and P4-34. Parameter functions: Set the torque compensation value for viscous friction load.
132 Technical Manual for EA190 Series Servo Driver V100 value address Unit ms Time of taking effect With immediate effect Setting range 0~100 Data size 16bit Control mode P S P4-26 Speed loop differential output limit Initial value 0.0 Communication address 041AH Unit % Time of taking effect With immediate effect Setting range 0.0~10.0 Data size 16bit Control mode P S P4-28 External disturbance resistance gain Initial value 0.0 Communication address 041CH Unit % Time of taking effect With immediate effect Setting range -100.0~100.0 Data size 16bit Control mode P S P4-29 Torque command low-pass smoothing constant Initial value 1.26 Communication address 041DH Unit ms Time of taking effect With immediate effect Setting range 0.00~100.00 Data size 16bit Control mode P S T P4-30 Friction compensation smoothing time constant Initial value 50 Communication address 041EH Unit ms Time of taking effect With immediate effect Setting range 10~1000 Data size 16bit Control mode P S P4-31 Viscous friction compensation gain Initial value 0 Communication address 041FH Unit 0.1%/1000rpm Time of taking effect With immediate effect Setting range 0~1000 Data size 16bit Control mode P S