Table 8-3 Parameters for pulse filtering coefficient
Used to smooth the input pulses.
Filter frequency: f = 1000/(2π* PD_Filter)
Time constant: T = PD_Filter/1000
Unit: S
Note: If you adjust this filter parameter during the
operation, some pulses may be lost.
When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, this
parameter must be adjusted to reduce motor oscillation; however, if the parameter adjustment is too great,
motor running instructions will become slower.
8.1.2 Auto Adjustment (Only for Velocity Loops)
Auto adjustment is only available for velocity loops (see Section 8.11 for manual adjustment of position
loops) when both forward rotation and reverse rotation of a motor are allowable, and the loadings do not
change much during the operation. You can determine the total inertia of motor loadings through gain auto
tuning, and then manually enter the desired bandwidth. The driver will automatically calculate appropriate
Kvp and Kvi values. The motion curve is in the shape of a sine curve, as shown in Fig. 8-3.
Fig. 8-3 Speed curve
K_Load represents the internal data that displays the actual inertia of the system.
* * _ *16
_
62500* 2 *
pt
t
I K Encoder R
K Load
J
In the above formula:
Ip represents the maximum peak output current in units of “A”;
Kt represents the torque constant of the motor in units of “Nm/Arms”;
Encoder_R represents the resolution of a motor encoder in units of “inc/r”; and
Jt represents the total inertia of the motor and loadings in units of “kg*m^2”.
Table 8-4 Parameters for controlling gain auto tuning
Auto tuning starts after the variable is set to
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