sh030106u.pdf - 第229页

6. NORM AL GAIN ADJ USTMENT 6 - 28 MEMO

6. NORMAL GAIN ADJUSTMENT

6 - 27

(4) Parameter adjustment

[Pr. PB07 Model loop gain]

This parameter determines the response level of the position control loop. Increasing the value improves

trackability to a position command, but a too high value will make overshoot liable to occur at settling.

Number of droop pulses is determined by the following expression.

Number of droop pulses [pulse] =

Model loop gain setting

Position command frequency [pulse/s]

Position command frequency differs depending on the operation mode.

Rotary servo motor and direct drive motor:

Position command frequency

Speed [r/min]

× Encoder resolution (number of pulses per servo motor revolution)

Linear servo motor:

Position command frequency = Speed [mm/s] ÷ Encoder resolution (travel distance per pulse)

6. NORMAL GAIN ADJUSTMENT

6 - 28

MEMO

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 1

7. SPECIAL ADJUSTMENT FUNCTIONS

POINT

The functions given in this chapter need not be used normally. Use them if you

are not satisfied with the machine status after making adjustment in the methods

in chapter 6.

When you use a linear servo motor, replace the following words in the left to the

words in the right.

Load to motor inertia ratio → Load to motor mass ratio

Torque → Thrust

(Servo motor) speed → (Linear servo motor) speed

7.1 Filter setting

The following filters are available with MR-J4 servo amplifiers.

Command

pulse train

Command

filter

Low-pass

filter

setting

Encoder

Servo motor

PWM

Load

[Pr. PB18]

Machine

resonance

suppression

filter 1

[Pr. PB13] [Pr. PB15] [Pr. PB46]

Machine

resonance

suppression

filter 2

Machine

resonance

suppression

filter 3

Machine

resonance

suppression

filter 4

Machine

resonance

suppression

filter 5

Shaft

resonance

suppression

filter

Robust filter

[Pr. PB48]

[Pr. PB50]

[Pr. PB17]

Speed

control

[Pr. PB49] [Pr. PE41]