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Setting Up Parameters
Low Pass Filter Group
Low Pass Filter Enable Checkbox
This enables a low pass filter applied to the output of the velocity command before the torque
compensator. The low pass filter is only active in Pulse and Velocity modes, not Torque
Modes.
Low Pass Frequency
This parameter defines the low pass filter cut-off frequency signals exceeding this frequency
will be filtered at a rate of 40 db. per decade.
Encoder Output Group
Encoder Scaling Check Box
This check box enables the Encoder Scaling feature. When not enabled, the encoder output
density is the same as the motor encoder density.
Encoder Scaling
This feature allows you to change the drive encoder output resolution in increments of one
line per revolution up to the density of the encoder in the motor. If the Encoder Scaling
parameter is set to a value higher than the motor encoder density, the drive encoder output
density will equal that of the motor encoder.
Load Group
Inertia Ratio
Inertia Ratio specifies the load to rotor inertia ratio and has a range of 0.0 to 50.0. If the exact
inertia is unknown, a conservative approximate value should be used. If you enter an inertia
value higher than the actual inertia, the resultant motor response will tend to be more
oscillatory.
Friction
This parameter is characterized in terms of the rate of friction increase per 100 motor RPM.
If estimated, always use a conservative (less than or equal to actual) estimate. If the friction
is completely unknown, a value of zero should be used. A typical value used here is less than
one percent.
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