DA98A AC Servo Drive Unit
User Manual
27
5
Speed proportional
gain
① Set the proportional gain of speed loop regulator.
② The bigger the setting value is, and the higher the gain is,
the bigger the rigidity is. The parameter value is defined by
specific AC servo drive unit model and load. Generally, the
bigger the load inertia， the bigger the setting value is.
③ Set the bigger value if there is no oscillation in system.
5 Hz
~2000Hz
6
Speed integration
time constant
① Set integral time constant of speed loop regulator.
② The bigger the setting value is, the faster the integral speed
and the smaller the rigidity is. The parameter value is
defined by specific AC servo drive unit model and load.
Generally, the larger the load inertia， the larger the setting
value is.
③ Set bigger value if there is no oscillation in system.
1 ~1000
7
Torque instruction
filter
① Set the torque instruction filter characteristic. It can
suppress the the resonance resulted by torque (piercing
noise from motor).
② If the motor makes piercing noise in running, please reduce
this parameter.
③ The smaller the value is and the lower the cut-off frequency
is, the smaller the noise from the motor is. If the load inertia
is too large, reduce the setting value properly. If the value is
too small, the response will be slow which may cause
instability.
④ The larger the value is and the higher the cut-off frequency
is, the faster the response is. If a higher mechanic rigidity is
needed, increase the setting value properly.
1%~500%
8
Speed detecting
lowpass filter
① Set speed detecting lowpass filter characteristics.
② The smaller the setting value is, the lower the cutoff
frequency, the smaller the motor noise is. Properly reduce
setting value if the load inertia is too large. If the value is too
small, the response will be slow which may cause
oscillation.
③ The larger the value is and the higher the cutoff frequency
is, the faster the speed feedback response is. Properly
increase setting value if faster speed response is needed.
1%~500%
9
Position
proportional gain
① Set proportional gain of position loop regulator.
② The larger the setting value is, the higher the gain is, and
the larger the rigidity is in the same frequency instruction
pulse, the smaller the position lag is. If the value is too large,
the oscillation or overshooting may occur.
③ The parameter value is defined by specific servo drive unit
model and load.
1/s
~1000 /s
10
Position
feedforward gain
① Set the feedforward gain of the position loop.
② If it is set for 100%, it means the position lag is always 0 in
any instruction pulse frequency.
③ If the feedforward gain of the position loop increases, the
quick response characteristic of the control system will be
enhanced. But it will make the system position loop unstable
and oscillation may occur.
④ Unless the high response characteristic is needed, the
feedforward gain of the position loop is usually 0.
0%~100％
11
Lowpass filter
cut-off frequency of
position
feedforward
Set the cutoff frequency of lowpass filter of position loop ①
feedforward.
The filter is used for enhancing the stability of complex ②
position control.
1Hz~1200Hz
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