sh030106u.pdf - 第167页

5. PARAMETE RS 5 - 22 5.2.2 Gai n/filter set ting p arameter s ([Pr . PB_ _ ]) No. Sym bol Name and function Initial value [unit] Setting range PB01 FILT Adaptive t uning mode (adapti ve filter II ) Set the adaptive tuni…

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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
5. PARAMETERS
5 - 23
No. Symbol Name and function
Initial
value
[unit]
Setting
range
PB06 GD2 Load to motor inertia ratio/load to motor mass ratio
This is used to set the load to motor inertia ratio or load to motor mass ratio. Setting a value
considerably different from the actual load moment of inertia or load mass may cause an
unexpected operation such as an overshoot.
The setting of the parameter will be the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the following table for details. When the parameter is automatic
setting, the value will vary between 0.00 and 100.00.
7.00
Multiplier
0.00 to
300.00
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2) Manual setting
_ _ _ 3 (Manual mode)
_ _ _ 4 (2 gain adjustment mode 2)
PB07 PG1 Model loop gain
Set the response gain up to the target position.
Increasing the setting value will also increase the response level to the position command but
will be liable to generate vibration and noise.
For the vibration suppression control tuning mode, the setting range of [Pr. PB07] is limited.
Refer to section 7.1.5 (4) for details.
The setting of the parameter will be the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the following table for details.
15.0
[rad/s]
1.0 to
2000.0
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode)) Manual setting
_ _ _ 1 (Auto tuning mode 1) Automatic setting
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2)
PB08 PG2 Position loop gain
This is used to set the gain of the position loop.
Set this parameter to increase the position response to level load disturbance.
Increasing the setting value will also increase the response level to the load disturbance but
will be liable to generate vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the following table for details.
37.0
[rad/s]
1.0 to
2000.0
Pr. PA08 This parameter
_ _ _ 0 (2 gain adjustment mode 1 (interpolation mode)) Automatic setting
_ _ _ 1 (Auto tuning mode 1)
_ _ _ 2 (Auto tuning mode 2)
_ _ _ 3 (Manual mode) Manual setting
_ _ _ 4 (2 gain adjustment mode 2) Automatic setting
PB09 VG2 Speed loop gain
This is used to set the gain of the speed loop.
Set this parameter when vibration occurs on machines of low rigidity or large backlash.
Increasing the setting value will also increase the response level but will be liable to generate
vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
When the continuous operation to torque control mode is used, if the value set in this
parameter is smaller than the initial value, command torque tracking may not be successful.
823
[rad/s]
20 to
65535
PB10 VIC Speed integral compensation
This is used to set the integral time constant of the speed loop.
Decreasing the setting value will increase the response level but will be liable to generate
vibration and noise.
The setting of the parameter will be the automatic setting or manual setting depending on the
[Pr. PA08] setting. Refer to the table of [Pr. PB08] for details.
33.7
[ms]
0.1 to
1000.0