Nidec Control Techniques Digitax-SF DA24A23 User Manual

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Digitax SF Instruction Manual
7. Tuning
1. Introduction
Position Control Mode
2� Control Block Diagram
131 Load factor
[digit]
113 Torque Command Value
[0�1％ ]
97 Velocity command
[rpm]
65Position command
[Encoder pulse]
69 Position Error
[Encoder pulse]
78 Position
comman
d Error
[Command pulse]
99 Velocity Error
[rpm]
98 Velocity Feedback
[rpm]
67 Position Feedback
[Encoder pulse]
74 ABS Position Command
[Command pulse]
80 ABS Position error
[Command pulse]
76 ABS Position Feedback
[Command pulse]
194 1-rotation
[Encoder pulse]
195 integrated value
[Encoder pulse]
Encoder /Rotor mechanical angle
Low-pass lter
Notch lter
Inertia ratio
Torque command limit
Notch lter 2
Enable Switch 160�0
Gain FF compensation 1 117�0
Enable Switch 160�1
102�0
Enable Switch 160�3
Enable Switch 144�0 Value 1 147�0 Value 2 148�0
Damping ratio 103�0
Numerator 34�0
Numerator 276�0
Operation Mode 642�0
Shift-to-home-position quantity 651�0
Home position data 653�0
3�0
Denominator 36�0
Denominator 278�0
Switch 32�2
Control gain 1 115�0 Control gain 2 116�0
Integral gain 119�0
Auto setting 160�2
Gain FF compensation 2 118�0
Frequency 168�0
Frequency 171�0
Time constant 162�0 Width 169�0 Width 172�0 Depth 170�0
Depth 173�0
Torque command lterPosition command lter
132
Load factor(%)
Digitax SF Connect only）
[%]
Current control
Switch 193�0
Motor
Pulse train command
Encoder pulse output
Input pulse form ３2.0 Rotational direction ３2.1 Input logic ３2.3 Input lter ３3.0
35 Velocity 33 Position
[pulse/160µs] 50W ～ 750W [pulse/200µs] 1kW ～ 2kW [Command pulse]
Feedforward controller
Feedback controller
（Observer）
Position Command Pulse Ratio Inverse Transformation
Position Command Pulse Ratio
Pulse train command: Interpolation by pulse ratio
Velocity Converter
Velocity Detection
Legend
Status Number Status Name
Controller Block Associated Parameter Filter Block
Associated Parameter
I/O Connector Block
Smoothing lter 1 Enable Switch 66.0 Moving average counter 80.0 Smoothing lter 2 Enable Switch 66.1 Enable Switch 66.0, 82.0, 82.1
Enable Switch 66.0, 82.0, 82.1 Moving average counter 81.0
Notch lter 1, 2, 3
γ - Notch lter 1, 2, 3
Frequency 74.0, 83.0, 357.0
Frequency 74.0, 83.0, 357.0
Width 75.0, 84.0, 358.0
High frequency gain 76.0, 85.0, 359.0
Depth 79.0, 86.0, 360.0
Depth 79.0, 86.0, 360.0
Pulse train command input
Internal Position
Homing
Command Mode
Rotational direction 272.1
Position Command
Pulse Ratio
Inverse Transformation
Encoder pulse output Division and multiplication
Inertia ratio upper limit
106�0

Nidec Control Techniques Digitax-SF DA24A23 Specifications

General

Brand	Nidec
Model	Control Techniques Digitax-SF DA24A23
Category	Servo Drives
Language	English