90Table 8-3 Parameters for pulse filtering coefficientNumericDisplayVariableNameMeaning DefaultValueRanged3.37 PD_Filter Used to smooth the input pulses.Filter frequency: f = 1000/(2π* PD_Filter)Time constant: T = PD_Filter/1000Unit: SNote: If you adjust this filter parameter during theoperation, some pulses may be lost.3 1~32767When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, thisparameter 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 positionloops) when both forward rotation and reverse rotation of a motor are allowable, and the loadings do notchange much during the operation. You can determine the total inertia of motor loadings through gain autotuning, and then manually enter the desired bandwidth. The driver will automatically calculate appropriateKvp and Kvi values. The motion curve is in the shape of a sine curve, as shown in Fig. 8-3.Fig. 8-3 Speed curveK_Load represents the internal data that displays the actual inertia of the system.* * _ *16_ 62500* 2 *p ttI K Encoder RK Load JIn 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‖; andJt represents the total inertia of the motor and loadings in units of ―kg*m^2‖.Table 8-4 Parameters for controlling gain auto tuningNumericDisplayVariable Name Meaning DefaultValueRanged0.06 Tuning_Start Auto tuning starts after the variable is set to 0 /
