sh030051g.pdf - 第130页

5 - 13 5. PARAMETERS No. Symbol Name and function Initial value Unit Setting range PB06 GD2 Ratio of load inertia moment to servo motor inertia moment Used to set the ratio of the load inertia mom ent to the servo motor …

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5 - 12
5. PARAMETERS
No. Symbol Name and function
Initial
value
Unit
Setting
range
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control)
This parameter cannot be used in the speed control mode.
The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is
"
2" or " 3". When PA08 is " 1", vibration suppression is always
invalid.
Select the setting method for vibration suppression control tuning. Setting this parameter
to "
1" (vibration suppression control tuning mode) automatically changes the
vibration suppression control vibration frequency (parameter No.PB19) and vibration
suppression control resonance frequency (parameter No.PB20) after positioning is done
the predetermined number of times.
Droop pulse
Command
Machine end
position
Automatic
adjustment
Droop pulse
Command
Machine end
position
Vibration suppression control tuning mode
000
0000h
Setting
Vibration suppression
control tuning mode
Automatically set
parameter
0
Vibration suppression
control OFF
(Note)
1
Vibration suppression
control tuning mode
(Advanced vibration
suppression control)
Parameter No.PB19
Parameter No.PB20
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.
When this parameter is set to "
1", the tuning is completed after positioning is
done the predetermined number or times for the predetermined period of time, and the
setting changes to "
2". When the vibration suppression control tuning is not
necessary, the setting changes to "
0". When this parameter is set to " 0",
the initial values are set to the vibration suppression control vibration frequency and
vibration suppression control resonance frequency. However, this does not occur when
the servo off.
PB03
For manufacturer setting
Do not change this value by any means.
0
PB04 FFC Feed forward gain
This parameter cannot be used in the speed control mode.
Set the feed forward gain. When the setting is 100%, the droop pulses during operation
at constant speed are nearly zero. However, sudden acceleration/deceleration will
increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set
1s or more as the acceleration/deceleration time constant up to the rated speed.
0 % 0
to
100
PB05
For manufacturer setting
Do not change this value by any means.
500
5 - 13
5. PARAMETERS
No. Symbol Name and function
Initial
value
Unit
Setting
range
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment.
When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is
automatically used.
(Refer to section 6.1.1)
In this case, it varies between 0 and 100.0.
When parameter No.PA08 is set to "
2" or " 3", this parameter can be set
manually.
7.0 Multiplier
(
1)
0
to
300.0
PB07 PG1 Model loop gain
Set the response gain up to the target position.
Increase the gain to improve track ability in response to the command.
When auto turning mode 1,2 is selected, the result of auto turning is automatically used.
When parameter No.PA08 is set to "
1" or " 3", this parameter can be set
manually.
24 rad/s 1
to
2000
PB08 PG2 Position loop gain
This parameter cannot be used in the speed control mode.
Used to set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance. Higher
setting increases the response level but is liable to generate vibration and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning
is automatically used.
When parameter No.PA08 is set to "
3", this parameter can be set manually.
37 rad/s 1
to
1000
PB09 VG2 Speed loop gain
Set this parameter when vibration occurs on machines of low rigidity or large backlash.
Higher setting increases the response level but is liable to generate vibration and/or
noise.
When auto tuning mode 1
2, manual mode and interpolation mode is selected, the
result of auto tuning is automatically used.
When parameter No.PA08 is set to "
3", this parameter can be set manually.
823 rad/s 20
to
50000
PB10 VIC Speed integral compensation
Used to set the integral time constant of the speed loop.
Lower setting increases the response level but is liable to generate vibration and/or
noise.
When auto tuning mode 1
2 and interpolation mode is selected, the result of auto
tuning is automatically used.
When parameter No.PA08 is set to "
3", this parameter can be set manually.
33.7 ms 0.1
to
1000.0
PB11 VDC Speed differential compensation
Used to set the differential compensation.
When parameter No.PB24 is set to "
3 ", this parameter is made valid. When
parameter No.PA08 is set to "
0 ", this parameter is made valid by instructions of
controller.
980 0
to
1000
PB12 For manufacturer setting
Do not change this value by any means.
0
PB13 NH1 Machine resonance suppression filter 1
Set the notch frequency of the machine resonance suppression filter 1.
Setting parameter No.PB01 (filter tuning mode 1) to "
1" automatically changes
this parameter.
When the parameter No.PB01 setting is "
0", the setting of this parameter is
ignored.
4500 Hz 100
to
4500
5 - 14
5. PARAMETERS
No. Symbol Name and function
Initial
value
Unit
Setting
range
PB14 NHQ1 Notch shape selection 1
Used to selection the machine resonance suppression filter 1.
Notch depth selection
Setting value Depth Gain
0Deep
1 14dB
2 8dB
3 4dBShallow
Notch width
Setting value Width
02Standard
13
24
35Wide
0
0
to
to
40dB
Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes
this parameter.
When the parameter No.PB01 setting is "
0", the setting of this parameter is
ignored.
0000h Refer to
Name
and
function
column.
PB15 NH2 Machine resonance suppression filter 2
Set the notch frequency of the machine resonance suppression filter 2.
Set parameter No.PB16 (notch shape selection 2) to "
1" to make this parameter
valid.
4500 Hz
100
to
4500
PB16 NHQ2 Notch shape selection 2
Select the shape of the machine resonance suppression filter 2.
5
3
4
Notch depth selection
Setting value Depth Gain
0 40dBDeep
1 14dB
2 8dB
3 4dBShallow
to
Notch width
Setting value Width
02Standard
1
2
3Wide
to
0
Machine resonance suppression filter 2 selection
0: Invalid
1: Valid
0000h Refer to
Name
and
function
column.
PB17 Automatic setting parameter
The value of this parameter is set according to a set value of parameter No.PB06 (Ratio
of load inertia moment to servo motor inertia moment).