Fuji Electric ALPHA5 Smart - Model Torque Filter Time Constant; PA1_88 and 89 Position Loop Integration Time Constant, Position Loop Integration Limiter; Load Torque Observer; PA1_87 Model Torque Filter Time Constant···················································

CHAPTER 4 PARAMETER
Control Gain and Filter Setting Parameter 4-35
4
PA1_87 Model torque filter time constant
No. Name Setting range
Default
value
Change
87 Model torque filter time constant 0.00 to 20.00 [ms] *** Always
Specify the feed forward control filter time constant of the torque for a model of inertia moment.
Automatic adjustment is made inside the amplifier in other than the manual tuning mode.
This function is not used when PA1_13 (tuning mode selection) is set to “14” (trace operationi mode).
PA1_88 and 89 Position loop integration time constant, position loop integration limiter
No. Name Setting range
Default
value
Change
88
Position loop integration time
constant
1.0 to 1000.0 [ms] *** Always
89 Position loop integration limiter 0 to Max. rotation speed [r/min] 0 Always
Use to improve interpolation accuracy of axes when interpolating two or more servomotor axes of an
X-Y table or similar.
PA1_88 (position loop integration time constant) is automatically adjusted inside the amplifier in other
than the manual tuning mode.
The position loop integration time constant is disabled if PA1_89 (position loop integration limiter) is 0.
To enter manually, enter settings so that the following equation is satisfied: Position loop integration
time constant ≥ Speed loop integration time constant x 5
PA1_90 Load torque observer
No. Name Setting range
Default
value
Change
90 Load torque observer 0: Disable 1: Enable 0 Always
Set at 1 (enable) to suppress effects of load disturbance torque and improve speed fluctuation.
Use the parameter to reduce the positioning settling time due to effects of the load torque such as friction.