sh030106u.pdf - 第246页

7. SPEC IAL ADJUSTMEN T FUNCT IONS 7 - 17 7.2.3 Par ameter When usi ng the gain switc hing function, always select " Manu al m o de (_ _ _ 3)" of "Gain adjustme nt mode selection" in [Pr. PA08 Auto tu…

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 16

7.2.2 Function block diagram

The control gains, load to motor inertia ratio, and vibration suppression control settings are changed

according to the conditions selected by [Pr. PB26 Gain switching function] and [Pr. PB27 Gain switching

condition].

Command pulse

frequency

Droop pulses

Model speed

Control command

from controller

Comparator

Changing

CDP

[Pr. PB26]

GD2

[Pr. PB06]

GD2B

[Pr. PB29]

Enabled

GD2 value

PG1

[Pr. PB07]

PG1B

[Pr. PB60]

Enabled

PG1 value

PG2

[Pr. PB08]

PG2B

[Pr. PB30]

Enabled

PG2 value

VG2

[Pr. PB09]

VG2B

[Pr. PB31]

Enabled

VG2 value

VIC

[Pr. PB10]

VICB

[Pr. PB32]

Enabled

VIC value

VRF11

[Pr. PB19]

VRF11B

[Pr. PB33]

Enabled

VRF11 value

VRF12

[Pr. PB20]

VRF12B

[Pr. PB34]

Enabled

VRF12 value

CDL

[Pr. PB27]

VRF13

[Pr. PB21]

VRF13B

[Pr. PB35]

Enabled

VRF13 value

VRF14

[Pr. PB22]

VRF14B

[Pr. PB36]

Enabled

VRF14 value

VRF21

[Pr. PB52]

VRF21B

[Pr. PB56]

Enabled

VRF21 value

VRF22

[Pr. PB53]

VRF22B

[Pr. PB57]

Enabled

VRF22 value

VRF23

[Pr. PB54]

VRF23B

[Pr. PB58]

Enabled

VRF23 value

VRF24

[Pr. PB55]

VRF24B

[Pr. PB59]

Enabled

VRF24 value

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 17

7.2.3 Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode

selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning

mode.

(1) Parameter for setting gain switching condition

Parameter Symbol Name Unit Description

PB26 CDP Gain switching function Select a switching condition.

PB27 CDL Gain switching condition [kpulse/s]

/[pulse]

/[r/min]

Set a switching condition values.

PB28 CDT Gain switching time constant [ms] Set the filter time constant for a gain change at switching.

(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first to third digits.

Gain switching selection

0: Disabled

1: Control command from controller is enabled

2: Command frequency

3: Droop pulses

4: Servo motor speed/linear servo motor speed

Gain switching condition

0: Gain after switching is enabled with gain switching condition or mor

1: Gain after switching is enabled with gain switching condition or less

[Pr. PB26]

Gain switching time constant disabling condition selection (Note)

0: Switching time constant enabled

1: Switching time constant disabled

2: Return time constant disabled

Note. This di

it is available with servo amplifier with software version B4 or later.

(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains with [Pr. PB27] after you select "Command frequency", "Droop pulses", or

"Servo motor speed/linear servo motor speed" with the gain switching selection in [Pr. PB26 Gain

switching function].

The setting unit is as follows.

Gain switching condition Unit

Command frequency [kpulse/s]

Droop pulses [pulse]

Servo motor speed/linear servo motor speed [r/min]/[mm/s]

You can set the primary delay filter to each gain at gain switching. This parameter is used to

suppress shock given to the machine if the gain difference is large at gain switching, for example.

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.