sh030106u.pdf - 第166页

5. PARAMETE RS 5 - 21 No. Sym bol Name and function Initial value [unit] Setting range PA25 OTHOV One-touc h tuning - Overshoot permissibl e level This is us ed to set a permis sible value of overshoot amount wit h a per…

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5. PARAMETERS
5 - 20
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PA22 **PCS Position control composition selection
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x For manufacturer setting 0h
_ _ x _ Super trace control selection
0: Disabled
2: Enabled
This parameter setting is used with servo amplifier with software
version B4 or later.
0h
_ x _ _ For manufacturer setting 0h
x _ _ _
Scale measurement function selection
0: Disabled
1: Used in absolute position detection system
2: Used in incremental system
The absolute position detection system cannot be used while an
incremental type encoder is used. Enabling absolute position
detection system will trigger [AL. 37 Parameter error].
Additionally, the setting is enabled only in the standard control
mode. Setting other than "0" in other operation modes triggers [AL.
37 Parameter error].
0h
PA23 DRAT Drive recorder arbitrary alarm trigger setting
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ x x
Alarm detail No. setting
Set the digits when you execute the trigger with arbitrary alarm
detail No. for the drive recorder function.
When these digits are "0 0", only the arbitrary alarm No. setting will
be enabled.
00h
x x _ _
Alarm No. setting
Set the digits when you execute the trigger with arbitrary alarm No.
for the drive recorder function.
When "0 0" are set, arbitrary alarm trigger of the drive recorder will
be disabled.
00h
Setting example:
To activate the drive recorder when [AL. 50 Overload 1] occurs, set "5 0 0 0".
To activate the drive recorder when [AL. 50.3 Thermal overload error 4 during operation]
occurs, set "5 0 0 3".
PA24 AOP4 Function selection A-4
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x
Vibration suppression function selection
0: Standard mode
1: 3 inertia mode
2: Low response mode
When two low resonance frequencies are generated, select "3
inertia mode (_ _ _ 1)". When the load to motor inertia ratio
exceeds the recommended load to motor inertia ratio, select "Low
response mode (_ _ _ 2)".
When you select the standard mode or low response mode,
"Vibration suppression control 2" is not available.
When you select the 3 inertia mode, the feed forward gain is not
available.
Before changing the control mode with the controller during the 3
inertia mode or low response mode, stop the motor.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
5. PARAMETERS
5 - 21
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PA25 OTHOV One-touch tuning - Overshoot permissible level
This is used to set a permissible value of overshoot amount with a percentage to in-position
range.
However, setting "0" will be 50%.
0
[%]
0 to 100
PA26 *AOP5 Function selection A-5
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x
Torque limit function selection at instantaneous power failure
(instantaneous power failure tough drive selection)
0: Disabled
1: Enabled
When an instantaneous power failure occurs during operation, you
can save electric energy charged in the capacitor in the servo
amplifier by limiting torque at acceleration. You can also delay the
time until [AL. 10.2 Voltage drop in the main circuit power] occurs
with instantaneous power failure tough drive function. Doing this will
enable you to set a longer time in [Pr. PF25 SEMI-F47 function -
Instantaneous power failure detection time].
To enable the torque limit function at instantaneous power failure,
select "Enabled (_ 1 _ _)" of "SEMI-F47 function selection" in [Pr.
PA20].
This parameter setting is used with servo amplifier with software
version A6 or later.
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
5. PARAMETERS
5 - 22
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PB01 FILT Adaptive tuning mode (adaptive filter II)
Set the adaptive tuning.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Filter tuning mode selection
Select the adjustment mode of the machine resonance suppression
filter 1. Refer to section 7.1.2 for details.
0: Disabled
1: Automatic setting
2: Manual setting
0h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ Tuning accuracy selection
0: Standard
1: High accuracy
The frequency is estimated more accurately in the high accuracy
mode compared to the standard mode. However, the tuning sound
may be larger in the high accuracy mode.
This digit is available with servo amplifier with software version C5
or later.
0h
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control II)
This is used to set the vibration suppression control tuning. Refer to section 7.1.5 for details.
Refer to the
"Name and
function" column.
Setting
digit
Explanation
Initial
value
_ _ _ x Vibration suppression control 1 tuning mode selection
Select the tuning mode of the vibration suppression control 1.
0: Disabled
1: Automatic setting
2: Manual setting
0h
_ _ x _ Vibration suppression control 2 tuning mode selection
Select the tuning mode of the vibration suppression control 2. To
enable the digit, select "3 inertia mode (_ _ _ 1)" of "Vibration
suppression mode selection" in [Pr. PA24 Function selection A-4].
0: Disabled
1: Automatic setting
2: Manual setting
0h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PB03 TFBGN Torque feedback loop gain
This is used to set a torque feedback loop gain in the continuous operation to torque control
mode.
Decreasing the setting value will also decrease a collision load during continuous operation to
torque control mode.
If the servo motor speed or torque fluctuates when a workpiece comes into contact with a
target object, decrease the setting value. Decreasing the setting value will help suppress
fluctuation in servo motor speed or torque when a workpiece comes into contact with a target
object. However, doing so will decrease trackability to the command torque.
Setting a value less than 6 rad/s will be 6 rad/s.
18000
[rad/s]
0 to
18000
PB04 FFC Feed forward gain
Set the feed forward gain.
When the setting is 100%, the droop pulses during operation at constant speed are nearly
zero. When the super trace control is enabled, constant speed and uniform
acceleration/deceleration droop pulses will be almost 0. However, sudden
acceleration/deceleration will increase the overshoot. As a guideline, when the feed forward
gain setting is 100%, set 1 s or more as the acceleration time constant up to the rated speed.
0
[%]
0 to 100