DA98D User Manual
28
4
Choice of
Control
Mode
①Control mode of the driver can be selected by setting this
parameter:
0:Position control mode;
1:Speed control mode;
2:Tiral operation control mode;
3:JOG control mode;
4: Encoder’s zero adjusting mode.
5: Opern-loop operation mode (used for testing motor and
encoder).
② Position control mode: position command is input through the
pulse input port
Speed control mode: speed command is input through the pulse
input port or analog input, which can be determined by the
parameter (internal and external speed command choice) PA42.
When internal speed is employed, the combination of SC1 and
SC2 can be used to select different internal speeds.
SC1 OFF,SC2 OFF : Internal speed 1
SC1 ON,SC2 OFF : Internal speed 2
SC1 OFF,SC2 ON : Internal speed 3
SC1 ON,SC2 ON : Internal speed 4
Trial operation control mode: the speed command is input through
the keyboard, used to test driver and motor.
JOG control mode, i.e. itching mode: after the JOG operation is
entered, press down ↑ and hold on, the motor will run at JOG
speed; leave the key, the motor will stop and keep zero speed;
press down ↓ and hold on, the motor will reversely run at JOG
speed; leave the key, the motor will stop and keep zero speed.
Encoder’s zero adjusting mode: used to adjust zero point of the
encoder disc when leaving factory
0~5
5
Speed
Proportion
Gain
Set proportion gain of the speed regulator.
The higher the value is set, the gain will be larger and rigidity
greater. Parameter value shall be determined by specific models
and loads of the servo drive unit. Generally, the greater the load
inertia is, the higher the value will be set.
Under the condition that the system will not produce vibration, the
value can be set as high as possible.
5 Hz
2000Hz
6
Speed
Integral Tim
Constant
Set integral time constant of the speed regulator
The lower the value is set, the faster the integral speed will be and
the greater the rigidity. Parameter value shall be determined by
specific models and loads of the servo drive unit. Generally, the
greater the load inertia is, the higher will the value be set.
Under the condition that the system will not produce vibration, the
value can be set as low as possible.
1 ms
1000ms
7
Torque
Command
Filter
Set features of the torque command filter to inhibit resonance
(sharp vibration noise produced by motor) produced by the torque;
If the motor produces sharp vibration noise, please reduce the
parameter value;
The lower the value is, the smaller the cut-off frequency will be and
the less the motor noise. If the load inertia is very great, the set
value can be properly reduced. If the value is too low, the response
will become slow and may cause instability.
The higher the value is, the greater the cut-off frequency will be
and the faster the response. If relatively high machinery rigidity is
needed, the value can be increased properly.
1%~500%
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