Chapter 12 Descriptions of Parameter SettingsC2000 Plus
12.1-11-10
11-25
Gain Value for the APR Feed Forward
Default: 90
Settings 0–100
Use this parameter to improve the drive's tracking characteristics of position control and reduce
the phase lag error. The higher the APR feedforward gain value, the less the pulse-train tracking
error, and the faster the position control response. However, setting the APR feedforward gain too
high may cause overshoot.
When external torque occurs, for example, if there is a load increase on the platform, too low
proportional gain may not be able to meet your application for position tracking error. At this
moment, increase the APR feedforward gain appropriately to reduce the position dynamic tracking
error effectively.
Switch between the speed mode and position control mode:
When you switch from the speed mode to the position control mode, Pr.11-25 is automatically set
to 100.
When you switch from the position control mode to the speed mode, Pr.11-25 remains at the
setting value you have set.
11-26
APR Feed Forward Low Pass Filter Bandwidth
Default: 10.00
Settings 0.00–655.35 Hz
This parameter is the low-pass filter bandwidth for the APR feedforward gain (Pr.11-25). A rapid
change of position input command may sometimes cause vibration when using the APR feed
forward gain. Increase the low-pass filter bandwidth to reduce vibration.
11-27
Max. Torque Command
Default: 100
Settings 0–500%
Determine the upper limit of the torque command (motor rated torque is 100%).
11-28
Torque Offset Source
Default: 0
Settings 0: Disable
1: Analog signal input (Pr.03-00)
2: Pr.11-29
3: Controlled through external terminals (Pr.11-30–Pr.11-32)
Specify the torque offset source.
When set to 3 (external terminal control), the torque offset sources are Pr.11-30, Pr.11-31 or Pr.11-
32 according to the multi-function input terminal settings 31, 32 or 33. Refer to the following chart:
Normally open (N.O.) contact: ON= contact closed, OFF= contact open
Pr.11-32 Pr.11-31 Pr.11-30
Torque Offset
MIx = 33 (Low) MIx = 32 (Mid) MIx = 31 (High)
OFF OFF OFF None
OFF OFF ON Pr.11-30
OFF ON OFF Pr.11-31
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