sh030106u.pdf - 第248页
7. SPEC IAL ADJUSTMEN T FUNCT IONS 7 - 19 (c) [Pr. PB29 L oad to motor in ertia rat io/load t o motor mas s ra tio aft er ga in switc hing] Set the load to mo tor iner tia ratio or load to motor mass ratio after g ain sw…
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 18
(2) Switchable gain parameter
Loop gain
Before switching After switching
Parameter Symbol Name Parameter Symbol Name
Load to motor inertia
ratio/load to motor mass
ratio
PB06 GD2
Load to motor inertia
ratio/load to motor mass
ratio
PB29 GD2B
Load to motor inertia
ratio/load to motor mass
ratio after gain switching
Model loop gain PB07 PG1 Model loop gain PB60 PG1B
Model loop gain after gain
switching
Position loop gain PB08 PG2 Position loop gain PB30 PG2B
Position loop gain after
gain switching
Speed loop gain PB09 VG2 Speed loop gain PB31 VG2B
Speed loop gain after gain
switching
Speed integral
compensation
PB10 VIC
Speed integral
compensation
PB32 VICB
Speed integral
compensation after gain
switching
Vibration suppression
control 1 - Vibration
frequency
PB19 VRF11
Vibration suppression
control 1 - Vibration
frequency
PB33 VRF11B
Vibration suppression
control 1 - Vibration
frequency after gain
switching
Vibration suppression
control 1 - Resonance
frequency
PB20 VRF12
Vibration suppression
control 1 - Resonance
frequency
PB34 VRF12B
Vibration suppression
control 1 - Resonance
frequency after gain
switching
Vibration suppression
control 1 - Vibration
frequency damping
PB21 VRF13
Vibration suppression
control 1 - Vibration
frequency damping
PB35 VRF13B
Vibration suppression
control 1 - Vibration
frequency damping after
gain switching
Vibration suppression
control 1 - Resonance
frequency damping
PB22 VRF14
Vibration suppression
control 1 - Resonance
frequency damping
PB36 VRF14B
Vibration suppression
control 1 - Resonance
frequency damping after
gain switching
Vibration suppression
control 2 - Vibration
frequency
PB52 VRF21
Vibration suppression
control 2 - Vibration
frequency
PB56 VRF21B
Vibration suppression
control 2 - Vibration
frequency after gain
switching
Vibration suppression
control 2 - Resonance
frequency
PB53 VRF22
Vibration suppression
control 2 - Resonance
frequency
PB57 VRF22B
Vibration suppression
control 2 - Resonance
frequency after gain
switching
Vibration suppression
control 2 - Vibration
frequency damping
PB54 VRF23
Vibration suppression
control 2 - Vibration
frequency damping
PB58 VRF23B
Vibration suppression
control 2 - Vibration
frequency damping after
gain switching
Vibration suppression
control 2 - Resonance
frequency damping
PB55 VRF24
Vibration suppression
control 2 - Resonance
frequency damping
PB59 VRF24B
Vibration suppression
control 2 - Resonance
frequency damping after
gain switching
(a) [Pr. PB06] to [Pr. PB10]
These parameters are the same as in ordinary manual adjustment. Gain switching allows the values
of load to motor inertia ratio/load to motor mass ratio, model loop gain, position loop gain, speed loop
gain, and speed integral compensation to be switched.
(b) [Pr. PB19] to [Pr. PB22]/[Pr. PB52] to [Pr. PB55]
These parameters are the same as in ordinary manual adjustment. Executing gain switching while
the servo motor stops, You can change vibration frequency, resonance frequency, vibration
frequency damping, and resonance frequency damping.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 19
(c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]
Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor
inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]),
and [Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and gain switching model loop gain are used only
with control command from the controller.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 20
7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by control command from the controller
(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2
Load to motor inertia ratio/load to motor
mass ratio
4.00 [Multiplier]
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11
Vibration suppression control 1 - Vibration
frequency
50 [Hz]
PB20 VRF12
Vibration suppression control 1 -
Resonance frequency
50 [Hz]
PB21 VRF13
Vibration suppression control 1 - Vibration
frequency damping
0.20
PB22 VRF14
Vibration suppression control 1 -
Resonance frequency damping
0.20
PB52 VRF21
Vibration suppression control 2 - Vibration
frequency
20 [Hz]
PB53 VRF22
Vibration suppression control 2 -
Resonance frequency
20 [Hz]
PB54 VRF23
Vibration suppression control 2 - Vibration
frequency damping
0.10
PB55 VRF24
Vibration suppression control 2 -
Resonance frequency damping
0.10
PB29 GD2B
Load to motor inertia ratio/load to motor
mass ratio after gain switching
10.00 [Multiplier]
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
PB30 PG2B Position loop gain after gain switching 84 [rad/s]
PB31 VG2B Speed loop gain after gain switching 4000 [rad/s]
PB32 VICB
Speed integral compensation after gain
switching
50 [ms]
PB26 CDP Gain switching function 0001
(Switch by control command
from the controller.)
PB28 CDT Gain switching time constant 100 [ms]
PB33 VRF11B
Vibration suppression control 1 - Vibration
frequency after gain switching
60 [Hz]
PB34 VRF12B
Vibration suppression control 1 -
Resonance frequency after gain switching
60 [Hz]
PB35 VRF13B
Vibration suppression control 1 - Vibration
frequency damping after gain switching
0.15
PB36 VRF14B
Vibration suppression control 1 -
Resonance frequency damping after gain
switching
0.15
PB56 VRF21B
Vibration suppression control 2 - Vibration
frequency after gain switching
30 [Hz]
PB57 VRF22B
Vibration suppression control 2 -
Resonance frequency after gain switching
30 [Hz]
PB58 VRF23B
Vibration suppression control 2 - Vibration
frequency damping after gain switching
0.05
PB59 VRF24B
Vibration suppression control 2 -
Resonance frequency damping after gain
switching
0.05