User's Manual

HARSFEN0602
Torque command filter bandwidth =
32768
]6[XP
log
TS
2
10
6
⋅π
−
Hz where TS is the sampling time
in usec.
The output of the filter cannot change in steps greater than XP[5]. The units of XP[5] are
internal torque command units, not Amperes. The ratio between the internal torque
commands and Amperes is given by WS[22]. The role of XP[6] for small torque commands
is plotted in the figure below.
0 2 4 6 8 10 12
0
50
100
150
200
250
300
Current Controller Sampling Times
Amp
Torque Cmd Vs. Torque Controller Input
XP[6]=16384
XP[6]=8196
XP[6]=4096
Figure 12: Time constant selection (Small signal) for the torque input filter
The automatic current tuner of the Composer program optimizes the gains of the current
controller for XP[6]=16000.
The parameter XP[6] is set to larger values for very high inductance motors, for which the
current cannot rise rapidly, or if additional low-passing is required.
The role of XP[5] is shown in the figure below. In the example, the torque command is 5000
internal units (5000/WS[22] Amperes). XP[6] is set to its default of 16000.
XP[5] is factory-set to 1000.
Use lower values of XP[5] for very high inductance motors, for which the current cannot
rise rapidly.