sh030051g.pdf - 第124页
5 - 7 5. PARAMETERS (2) Auto tuning response (parameter No.PA09) If the machine hunts or ge nerates large gear sound, de crease the s et value. To improve performance, e.g. shorten the settling time, in crease the set va…
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5. PARAMETERS
5.1.6 Auto tuning
Parameter
Initial value Unit Setting range
No. Symbol Name
PA08 ATU Auto tuning mode 0001h Refer to the text.
PA09 RSP Auto tuning response 12 1 to 32
Make gain adjustment using auto tuning. Refer to section 6.2 for details.
(1) Auto tuning mode (parameter No.PA08)
Select the gain adjustment mode.
Gain adjustment mode setting
Parameter No.PA08
000
Setting Gain adjustment mode Automatically set parameter No. (Note)
Interpolation mode
Auto tuning mode 1
Auto tuning mode 2
Manual mode
0
1
2
3
PB06 PB08 PB09 PB10
PB06 PB07 PB08 PB09 PB10
PB07 PB08 PB09 PB10
Note. The parameters have the following names.
Parameter No. Name
PB06 Ratio of load inertia moment to servo motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation
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5. PARAMETERS
(2) Auto tuning response (parameter No.PA09)
If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.
Setting Response
Guideline for machine
resonance frequency [Hz]
Setting Response
Guideline for machine
resonance frequency [Hz]
1 Low response 10.0 17 Low response 67.1
2
11.3 18
75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 52.9 31 355.1
16 Middle response 59.6 32 Middle response 400.0
5.1.7 In-position range
Parameter
Initial value Unit Setting range
No. Symbol Name
PA10 INP In-position range 100 pulse 0 to 65535
POINT
This parameter cannot be used in the speed control mode.
Set the range, where in position (INP) is output, in the command pulse unit.
Servo motor droop pulse
In-position range [pulse]
Command pulse
Command pulse
Droop pulse
In position (INP)
ON
OFF
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5. PARAMETERS
5.1.8 Selection of servo motor rotation direction
Parameter
Initial value Unit Setting range
No. Symbol Name
PA14 *POL Rotation direction selection 0 0 1
POINT
This parameter is made valid when power is switched off, then on after
setting, or when the controller reset has been performed.
Select servo motor rotation direction relative.
Parameter No.PA14
setting
Servo motor rotation direction
When positioning address
increases
When positioning address
decreases
0 CCW CW
1 CW CCW
Forward rotation (CCW)
Reverse rotation (CW)
5.1.9 Encoder output pulse
Parameter
Initial value Unit Setting range
No. Symbol Name
PA15 *ENR Encoder output pulse 4000 pulse/rev 1 to 65535
POINT
This parameter is made valid when power is switched off, then on after
setting, or when the controller reset has been performed.
Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No.PC03 to choose the output pulse setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.
The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.