sh030106u.pdf - 第607页
17. APPLICATIO N OF FUNCTIONS 17 - 56 3) When th e gain s witch ing time cons tant is disa bled a) Switching ti me cons tant dis abled w as s elected. The gain sw itching t ime c onstant is disa bled. Th e time constant …
17. APPLICATION OF FUNCTIONS
17 - 55
2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching
cannot be used.
a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2
Load to motor inertia ratio/load to
motor mass ratio
4.00 [Multiplier]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB29 GD2B
Load to motor inertia ratio/load to
motor mass ratio after gain
switching
10.00 [Multiplier]
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 selection 0003
(switching by droop pulses)
PB27 CDL Gain switching condition 50 [pulse]
PB28 CDT Gain switching time constant 100 [ms]
b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
Droop pulses
[pulse]
+CDL
-CDL
0
Command pulses
Droop pulses
Command pulses
Load to motor inertia ratio/load to motor
mass ratio
4.00 → 10.00 → 4.00 → 10.00
Position loop gain 120 → 84 → 120 → 84
Speed loop gain 3000 → 4000 → 3000 → 4000
Speed integral compensation 20 → 50 → 20 → 50
17. APPLICATION OF FUNCTIONS
17 - 56
3) When the gain switching time constant is disabled
a) Switching time constant disabled was selected.
The gain switching time constant is disabled. The time constant is enabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0103, [Pr. PB27 (CDL)] = 100 [pulse],
and [Pr. PB28 (CDT)] = 100 [ms].
Command pulses
Droop pulses
+100 pulses
-100 pulses
0Droop pulses [pulse]
Switching time constant
disabled
Switching at 0 ms
After-switching gain
Before-switching gain
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching off (when returning)
CDT = 100 ms
63.4%
Switching at 0 ms
After-switching gain
Gain switching
b) Return time constant disabled was selected.
The gain switching time constant is enabled. The time constant is disabled at gain return.
The following example shows for [Pr. PB26 (CDP)] = 0201, [Pr. PB27 (CDL)] = 0, and [Pr.
PB28 (CDT)] = 100 [ms].
ONCDP (Gain switching)
After-switching gain
Before-switching gain
Switching at [Pr. PB28 (CDT)] = 100 [ms] only when gain switching on (when switching)
CDT = 100 ms
Return time constant disabled
Switching at 0 ms
OFF OFF
63.4%
Gain switching
17. APPLICATION OF FUNCTIONS
17 - 57
(7) Tough drive function
POINT
Set enable/disable of the tough drive function with [Pr. PX25 Tough drive
setting]. (Refer to (2) in this section.)
This function makes the equipment continue operating even under the condition that an alarm occurs.
The vibration tough drive function and instantaneous power failure tough drive function are available with
the J3 extension function.
(a) Vibration tough drive function
This function prevents vibration by resetting a filter instantaneously when machine resonance occurs
due to varied vibration frequency caused by machine aging.
To reset the machine resonance suppression filters with the function, [Pr. PB13 Machine resonance
suppression filter 1] and [Pr. PB15 Machine resonance suppression filter 2] should be set in
advance.
Set [Pr. PB13] and [Pr. PB15] as follows.
1) One-touch tuning execution (Refer to (4) in this section.)
2) Manual setting (Refer to (2) in this section.)
The vibration tough drive function operates when a detected machine resonance frequency is within
±30% for a value set in [Pr. PB13 Machine resonance suppression filter 1] or [Pr. PB15 Machine
resonance suppression filter 2].
To set a detection level of the function, set sensitivity in [Pr. PX26 Vibration tough drive - Oscillation
detection level].
POINT
Resetting [Pr. PB13] and [Pr. PB15] by the vibration tough drive function is
performed constantly. However, the number of write times to the EEPROM is
limited to once per hour.
The vibration tough drive function does not reset [Pr. PX17 Machine resonance
suppression filter 3], [Pr. PX19 Machine resonance suppression filter 4], and [Pr.
PX21 Machine resonance suppression filter 5].
The vibration tough drive function does not detect a vibration of 100 Hz or less.