Fuji Electric ALPHA5 Smart - P;PI Automatic Change Selection; PA1_92 and 93 Friction Compensation Settings; PA1_91 P;PI Automatic Change Selection ··················································

CHAPTER 4 PARAMETER
4-36
Control Gain and Filter Setting Parameter
4
PA1_91 P/PI automatic change selection
No. Name Setting range
Default
value
Change
91 P/PI automatic change selection 0: Disable 1: Enable 0 Always
The speed adjuster switches to P (proportional) or PI (proportional + integral) control.
Set at 1 (enable) to automatically switch according to the setting of PA1_61 (gain changing factor).
The switching level follows the reference value of PA1_62 (gain changing level).
The state at switching is shown below.
PA1_61: Gain changing factor Condition State
Reference value level or over P control Position deviation, feedback speed
Command frequency, command
speed
Reference value level or less PI control
ON Pl control External signal switch
(CONT signal switch)
OFF P control
To apply the brake from an external unit, arrange the P control state.
PA1_92 and 93 Friction compensation settings
No. Name Setting range
Default
value
Change
92 Speed range for friction compensation 0.1 to 20.0 [r/min] 10.0 Always
93
Coulomb friction torque for friction
compensation
0 to 50 [%]
0 Always
Specify in a system with reversing speeds if smooth reversing motions are not obtained due to friction.
Specify the speed at which static friction changes to dynamic friction, in these parameters.
Set PA1_92 (speed range for friction compensation) at about 1.0 to 10.0 r/min.
Set PA1_93 (Coulomb friction torque for friction compensation) at the torque equivalent to dynamic
friction (Coulomb friction).
Friction compensation is disabled if the friction compensation torque reference value is 0.