IMPULSE•VG+ Series 3 Instruction Manual – 07/25/05
5-46
Parameter D4-03 is used as an additional proportional gain adjustment, and parameter D4-04
determines the response time for Proportional Gain 2 (D4-03).
Figure 5-26: Proportional Gain
NOTE: When D4-07= “0,” proportional gain 1 (D4-01) and integral time 1 (D4-02) are
selected.
Torque Control
Please consult factory for application assistance regarding torque control. Torque control should not
be applied on a vertical hoist
This function is used to avoid excessive changes in torque, which may be caused by abnormal
resonance when the torque reference changes rapidly.
Parameter
Code Display Function Range Initial Value
Access
Level
D4-03 ASR P Gain 2 ASR Proportional Gain 2. 1.00–300.00 30.00 Adv
D4-04 ASR I Time 2 ASR Integral Time 2. 0.000–10.000
sec
0.100 Adv
D4-06 ASR Delay Time ASR Output Primary Delay
Time.
0.000–0.500 sec 0.004 Adv
Mechanical backlash in an application can cause secondary current (I
2
) reference variations in the motor’s
rotor. This condition can prevent the desired adjustment of ASR parameters. The output delay time
constant is used to increase the stability of the system allowing a wider setting range of ASR parameters.
D4-07 ASR Gain SW Freq ASR Gain Switching
Frequency.
0.0–150.0 Hz 0.0 Adv
D4-08 ASR I Limit ASR Integral Limit. 0–400% 400 Adv
D4-07
0
Speed
ain
D4-01
D4-02
D4-03
D4-04
Parameter
Code Display Function Range Initial Value
Access
Level
D5-01 Torque Control Determines whether Speed or
Torque Control is selected.
0~1 0 Adv
0 Speed Control Speed Control enabled with
torque limit
1 Torque Control Torque control enabled with
speed limit.
Speed/torque control selection can also be made by using a multi-function input select (H1-XX=34
speed- torque control changeover).
D5-02 Torque Ref Filter Primary delay time for
Torque Reference Input.
0–1000msec 0 Adv
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