Nidec Control Techniques Digitax-SF Series - Torque Command Low-Pass Filter

43
Digitax SF Instruction Manual
Tuning
7
7. Tuning
3. Tuning Parameters
3. Tuning Parameters
Function
Setting a relatively large value may suppress vibrations�
Parameter
Switch
160�0
Default:
1
Settings:
0–1
Auto setting
160�2
Default:
0
Settings:
0–1
Time constant
162�0
Default:
0 [0�01 ms/rad]（
less than
100 W）
10 [0�01 ms/rad]（
over
200 W）
Setting range:
0-65,535
Remark
Setting a larger value means getting closer to the control range of the response model:
another type of vibration will occur�
Tuning Tip
Set Torque command lter: Notch lter switch
(160�1) =1 (enable)�
A rough estimate of possible max value for the lter can be obtained as follows�
=
(0�1 to 0�2）
max(（ω１＋ω２）, ω
ｑ
)
[s] or below
Position Control Mode Velocity Control Mode
ω1 Control Gain 1
115�0 Control Gain 1 131�0
ω2 Control Gain 2 116�0 ‐ ‐
ωq Integral Gain
119�0 Integral Gain 133�0
5 Setting List of Parameters
Torque Command Low-Pass Filter