Servosila-Device-Reference-0xA020192

a fractional number. Use this number as the reduction ratio here.
If an electric drive does not have a "Servo Encoder", a gearbox or a belt, just set
this parameter to 1.0.
Configuration - Control Laws
The "Control Laws" section defines settings for various control laws implemented in the firmware of the controller. The
"Control Laws" section defines how the drive responds to commands given by a parent control system. Note that the
parameters within this section are automatically computed by the "Spreadsheet" tool or by an auto-configuration
procedure of the controller. The parameters are automatically derived from parameters configured in the "Datasheet"
section. In most cases, one should not enter the "Control Laws" parameters manually, but instead use one of the
provided automated tools to generate the an initial set of parameters. After an initial set of control laws has been
generated by a tool, minor adjustments can be made manually for tuning purposes.
# Parameter Units Description CANopen
1 Speed Filter: T sec The "Speed Filter: T" parameter, a time constant, plays a role in
determining what perturbations in speed readings the electric drive needs to
respond to. Note that the speed perturbation might be caused by sudden
changes in payload characteristics ("bumps on the road"), or may turn out
to be a noise in speed measurements due discrete nature of an encoder or
an ADC.
The speed filter smooths out speed readings, thus hiding some of the noise
coming to the control laws. The goal is to choose a value for the "Speed
Filter: T" parameter in such a way that the noise is removed, while relevant
information about changes in speed readings caused by payload forces, is
allowed to pass through the filter.
The "Spreadsheet" tool and an auto-configuration routine of the controller
both analytically compute a proper value for this parameter by analyzing
the information provided in the "Datasheet" section. Nevertheless, a
manual adjustment might be required, especially when performance-
boosting optimizations such as "D-Q Coupling Compensation" are enabled.
Tuning intuition:
• DECREASING the time constant TOO MUCH causes the
controller to filter LESS noise in speed readings. This often
manifests itself as an audible "white" noise coming from the drive,
as the drive starts overreacting to unfiltered noise in speed readings.
• INCREASING the time constant TOO MUCH causes the drive to
filter out not just the noise, but also useful changes in speed
readings caused by external payload forces. This causes the drive to
experience difficulties in maintaining a commanded speed under an
influence of external forces. This might manifest itself in speed
oscillations or in longer times that take the drive to arrive to a
FLOAT32,
0x2002,
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