Fuji Electric ALPHA5 Smart - Acceleration Compensation Gain for Position Control; PA1_70 to 76 Notch Filter Settings

CHAPTER 4 PARAMETER
Control Gain and Filter Setting Parameter 4-31
4
The timing chart of each signal is shown below.
If external switch is selected as a gain changing factor, changeover to the second gain occurs during
OFF-to-ON transition as shown above. In this case, you can turn on or off at an arbitrary timing without
relations to the motor motion.
The gain of the go stroke and that of the return stroke of a reciprocal motion can be switched.
PA1_68 Acceleration compensation gain for position control
No. Name Setting range
Default
value
Change
68
Acceleration compensation gain
for position control
0 to 200 [%]
0 Always
Enter the following characteristics to the command.
A larger reference value reduces the position deviation caused during acceleration or deceleration
while improving following characteristic to position commands.
Too much reference value may cause vibration or noise.
PA1_70 to 76 Notch filter settings
No. Name Setting range
Default
value
Change
70
Automatic notch filter
selection
0: Disable 1: Enable
2: Enable (notch filter 1 only)
1 Always
71 Notch filter 1, frequency 10 to 4000 [Hz] 4000 Always
72 Notch filter 1, attenuation 0 to 40 [dB] 0 Always
73 Notch filter 1, width 0 to 3 2 Always
74 Notch filter 2, frequency 10 to 4000 [Hz] 4000 Always
75 Notch filter 2, attenuation 0 to 40 [dB] 0 Always
76 Notch filter 2, width 0 to 3 2 Always
Feedback speed
OFF
ON
Position loop gain
Speed loop gain
Speed loop
integration time
Feed forward gain
External switch
(Servo response switch)
Gain changing level (PA1_62)
Position loop gain 1 (PA1_55)
Speed loop gain 1 (PA1_56)
Speed loop integration time constant 1 (PA1_57)
Feed forward gain 1 (PA1_58)
Gain switching time constant (PA1_63)
Time
Position loop gain 2 (PA1_64)
Speed loop gain 2 (PA1_65)
Speed loop integration time constant 2 (PA1_66)
Feed forward gain 2 (PA1_67)