97
P1.88
Position loop integration time constant
Default value
***
Setting range
1.0~1000.0 [ms]
P1.89
Position loop integration limiter
Default value
0
Setting range
0 to Max. rotation speed [r/min]
Use to improve interpolation accuracy of axes when interpolating two or more servo motor axes of an X-Y
table or similar.
P1.88 (position loop integration time constant) is automatically adjusted inside the amplifier in other than the
manual tuning mode.
The position loop integration time constant is disabled if P1.89 (position loop integration limiter) is 0.
To enter manually, enter settings so that the following equation is satisfied: Position loop integration time
constant ≥ Speed loop integration time constant x 5.
P1.90
Load torque observer
Default value
0
Setting range
0: Disable 1: Enable
Set at 1 (enable) to suppress effects of load disturbance torque and improve speed fluctuation.
Use the parameter to reduce the positioning settling time due to effects of the load torque such as friction.
P1.91
P/PI auto switch selection
Default value
0
Setting range
0: Disable 1: Enable
The speed adjuster switches to P (proportional) or PI (propor integral) control.
Set at 1 (enable) to automatically switch according to the setting of P1.61 (Gain switch cause).
The switching level follows the reference value of P1.62 (gain switch level).
The state at switching is shown below.
P1.61(Gain switch cause)
Condition
State
Position deviation, feedback speed,
Command frequency, command speed
Reference value level or over
P Control
Reference value level or less
PI Control
External signal switch (EI signal switch)
ON
P Control
OFF
PI Control
To apply the brake from an external unit, arrange the P control state.
P1.92
Speed range for friction compensation
Default value
10.0
Setting range
0.1~20.0 [r/min]
P1.93
Coulomb friction torque for friction compensation
Default value
0
Setting range
0~50 [%]
Specify in a system with reversing speeds if smooth reversing motions are not obtained due to friction.
Specify the speed at which static friction changes to dynamic friction, in these parameters.
Set P1.92 (speed range for friction compensation) at about 1.0 to 10.0 r/min.
Set P1.93 (Coulomb friction torque for friction compensation) at the torque equivalent to dynamic friction
(Coulomb friction).
Friction compensation is disabled if the friction compensation torque reference value is 0.
