bnp-b2365(eng)b.pdf - 第111页

3. Setup 3 - 24 High-gain speci fications No. Abbrev. Parameter name Explanation Setting range (Unit) SV013 ILMT Current limit value Set the normal current (torque) limit value. (Limit values for both + and - direction.)…

3. Setup

3 - 23

3-2-3 Servo parameter list

High-gain specifications

No. Abbrev. Parameter name Explanation

Setting

range (Unit)

SV001 PC1*

Motor side gear

ratio

1 to 32767

SV002 PC2*

Machine side gear

ratio

Set the motor side and machine side gear ratio.

For the rotary axis, set the total deceleration (acceleration) ratio.

Even if the gear ratio is within the setting range, the electronic gears may

overflow and cause an alarm.

1 to 32767

SV003 PGN1 Position loop gain 1

Set the position loop gain. The standard setting is "47".

The higher the setting value is, the more precisely the command can be

followed and the shorter the positioning time gets, however, note that a

bigger shock is applied to the machine during acceleration/deceleration.

When using the SHG control, also set SV004 (PGN2) and SV057 (SHGC).

1 to 200

(rad/s)

SV004 PGN2 Position loop gain 2

When using the SHG control, also set SV003 (PGN1) and SV057 (SHGC).

When not using the SHG control, set to "0".

0 to 999

(rad/s)

SV005 VGN1 Speed loop gain 1

Set the speed loop gain.

Set this according to the load inertia size.

The higher the setting value is, the more accurate the control will be,

however, vibration tends to occur.

If vibration occurs, adjust by lowering by 20 to 30%.

The value should be determined to be 70 to 80% of the value at the time

when the vibration stops.

1 to 999

VGN1

VGN2

VCS VLMT

SV006 VGN2 Speed loop gain 2

If the noise is bothersome at high speed

during rapid traverse, etc, lower the speed

loop gain.

As in the right figure, set the speed loop

gain of the speed 1.2 times as fast as the

motor’s rated speed, and use this with

SV029 (VCS).

When not using, set to "0".

(Rated speed*1.2)

-1000 to

1000

Set this when the limit cycle occurs in the full-closed loop, or overshooting

occurs in positioning.

Select the control method with SV027 (SSF1)/bit1, 0 (vcnt).

Normally, use "Changeover type 2".

When you set this parameter, make sure to set the torque offset (SV032

(TOF)). When not using, set to "0".

No changeover

When SV027 (SSF1)/bit1, 0 (vcnt)=00

The delay compensation control is always valid.

Changeover type 1

When SV027 (SSF1)/bit1, 0 (vcnt)=01

The delay compensation control works when the command from the NC

is "0".

Overshooting that occurs during pulse feeding can be suppressed.

SV007 VIL

Speed loop delay

compensation

Changeover type 2

When SV027 (SSF1)/bit1, 0 (vcnt)=10

The delay compensation control works when the command from the NC

is "0" and the position droop is "0". Overshooting or the limit cycle that

occurs during pulse feeding or positioning can be suppressed.

0 to 32767

SV008 VIA

Speed loop lead

compensation

Set the gain of the speed loop integration control.

The standard setting is "1364". During the SHG control, the standard

setting is "1900". Adjust the value by increasing/decreasing it by about 100

at a time.

Raise this value to improve contour tracking precision in high-speed

cutting. Lower this value when the position droop vibrates (10 to 20Hz).

1 to 9999

SV009 IQA

Current loop q axis

lead compensation

SV010 IDA

Current loop d axis

lead compensation

Set the gain of current loop.

As this setting is determined by the motor’s electrical characteristics, the

setting is fixed for each type of motor.

Set the standard values for all the parameters depending on each motor

type.

1 to 20480

SV011 IQG

Current loop q axis

gain

SV012 IDG

Current loop d axis

gain

1 to 8192

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3. Setup

3 - 24

High-gain specifications

No. Abbrev. Parameter name Explanation

Setting

range (Unit)

SV013 ILMT Current limit value

Set the normal current (torque) limit value. (Limit values for both + and -

direction.)

When the value is "500" (a standard setting), the maximum torque is

determined by the specification of the motor.

0 to 999

(Stall

[rated]

current %)

SV014 ILMTsp

Current limit value in

special control

Set the current (torque) limit value in a special control (initial absolute

position setting, stopper control, etc). (Limit values for both of the + and -

directions.)

Set to "500" when not using.

0 to 999

(Stall

[rated]

current %)

SV015 FFC

Acceleration rate

feed forward gain

When a relative error in the synchronous control is large, apply this

parameter to the axis that is delaying. The standard setting value is "0".

For the SHG control, set to "100".

To adjust a relative error in acceleration/deceleration, increase the value by

50 to 100 at a time.

0 to 999

(%)

Set this when the protrusion (that occurs due to the non-sensitive band by

friction, torsion, backlash, etc.) at quadrant change is too large.

This compensates the torque at quadrant change.

This is valid only when the lost motion compensation (SV027 (SSF1.lmc))

is selected.

Type 1: When SV027 (SSF1)/bit9, 8 (lmc)=01

Set the compensation amount based on the motor torque before the

quadrant change.

The standard setting is "100". Setting to "0" means the compensation

amount is zero.

Normally, use Type 2.

-1 to 200

(%)

Type 2: When SV027 (SSF1)/bit9, 8 (lmc)=10

Set the compensation amount based on the stall (rated) current of the

motor.

The standard setting is double of the friction torque. Setting to "0"

means the compensation amount is zero.

-1 to 200

(Stall

[rated]

current %)

Type3 When SV082(SSF5)/bit1(lmc3)＝1

Set the compensation amount based on the stall current of the motor.

Setting on SV082/bit1(lmc3) has a priority over SV027/bit9,8(lmc)

-1 to 200

(Stall

current %)

SV016 LMC1

Lost motion

compensation 1

When you wish different compensation amount depending on the direction

When SV041 (LMC2) is "0", compensate with the value of SV016

(LMC1) in both of the + and -directions.

If you wish to change the compensation amount depending on the

command direction, set this and SV041 (LMC2). (SV016: + direction,

SV041: - direction. However, the directions may be opposite depending

on other settings.)

When "-1" is set, the compensation won’t be performed in the direction of

the command.

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.

3. Setup

3 - 25

High-gain specifications

No. Abbrev. Parameter name Explanation

Setting

range (Unit)

HEX setting

FEDCB A 98765 4 3 2 10

spm mpt mp abs vdir fdir vfb seqh dfbx fdir2

bit Meaning when "0" is set Meaning when "1" is set

0 fdir2 Speed feedback forward polarity Speed feedback reverse polarity

1 dfbx Dual feedback control stop Dual feedback control start

2 seqh

3vfb

Speed feedback filter stop Speed feedback filter stop

(2250Hz)

4 fdir Position feedback forward polarity Position feedback reverse polarity

5vdir

Standard setting HA motor (4 pole motor)

Detector installation position 90

degrees (B, D)

SV017 SPEC*

Servo specification

selection

7 abs Incremental control Absolute position control

8 mp MP scale 360P (2mm pitch) MP scale 720P (1mm pitch)

mpt

MP scale ABS detection NC

control

MP scale ABS detection

automatic (Standard setting)

spm

0 : Setting for normal use

1 : When using the S type drive unit (Only in the case of MDS-C1-Vx)

2 to F : Setting probhited

(Note) Set to "0" for bits with no particular description.

Parameters with an asterisk * in the abbreviation, such as PC1*, are validated with the NC power turned ON again.