sh030106u.pdf - 第249页

7. SPEC IAL ADJUSTMEN T FUNCT IONS 7 - 20 7.2.4 Gai n switch ing proce dure This operati on will be d escr ibed by way of sett ing exa mples. (1) When you c hoose s witchi ng by c ontrol c ommand fr om the contr ol ler (…

100%1 / 710
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 19
(c) [Pr. PB29 Load to motor inertia ratio/load to motor mass ratio after gain switching]
Set the load to motor inertia ratio or load to motor mass ratio after gain switching. If the load to motor
inertia ratio does not change, set it to the same value as [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio].
(d) [Pr. PB30 Position loop gain after gain switching], [Pr. PB31 Speed loop gain after gain switching],
and [Pr. PB32 Speed integral compensation after gain switching]
Set the values of after switching position loop gain, speed loop gain and speed integral
compensation.
(e) Vibration suppression control after gain switching ([Pr. PB33] to [Pr. PB36]/[Pr. PB56] to [Pr. PB59]),
and [Pr. PB60 Model loop gain after gain switching]
The gain switching vibration suppression control and gain switching model loop gain are used only
with control command from the controller.
You can switch the vibration frequency, resonance frequency, vibration frequency damping,
resonance frequency damping, and model loop gain of the vibration suppression control 1 and
vibration suppression control 2.
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 20
7.2.4 Gain switching procedure
This operation will be described by way of setting examples.
(1) When you choose switching by control command from the controller
(a) Setting example
Parameter Symbol Name Setting value Unit
PB06 GD2
Load to motor inertia ratio/load to motor
mass ratio
4.00 [Multiplier]
PB07 PG1 Model loop gain 100 [rad/s]
PB08 PG2 Position loop gain 120 [rad/s]
PB09 VG2 Speed loop gain 3000 [rad/s]
PB10 VIC Speed integral compensation 20 [ms]
PB19 VRF11
Vibration suppression control 1 - Vibration
frequency
50 [Hz]
PB20 VRF12
Vibration suppression control 1 -
Resonance frequency
50 [Hz]
PB21 VRF13
Vibration suppression control 1 - Vibration
frequency damping
0.20
PB22 VRF14
Vibration suppression control 1 -
Resonance frequency damping
0.20
PB52 VRF21
Vibration suppression control 2 - Vibration
frequency
20 [Hz]
PB53 VRF22
Vibration suppression control 2 -
Resonance frequency
20 [Hz]
PB54 VRF23
Vibration suppression control 2 - Vibration
frequency damping
0.10
PB55 VRF24
Vibration suppression control 2 -
Resonance frequency damping
0.10
PB29 GD2B
Load to motor inertia ratio/load to motor
mass ratio after gain switching
10.00 [Multiplier]
PB60 PG1B Model loop gain after gain switching 50 [rad/s]
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 function 0001
(Switch by control command
from the controller.)
PB28 CDT Gain switching time constant 100 [ms]
PB33 VRF11B
Vibration suppression control 1 - Vibration
frequency after gain switching
60 [Hz]
PB34 VRF12B
Vibration suppression control 1 -
Resonance frequency after gain switching
60 [Hz]
PB35 VRF13B
Vibration suppression control 1 - Vibration
frequency damping after gain switching
0.15
PB36 VRF14B
Vibration suppression control 1 -
Resonance frequency damping after gain
switching
0.15
PB56 VRF21B
Vibration suppression control 2 - Vibration
frequency after gain switching
30 [Hz]
PB57 VRF22B
Vibration suppression control 2 -
Resonance frequency after gain switching
30 [Hz]
PB58 VRF23B
Vibration suppression control 2 - Vibration
frequency damping after gain switching
0.05
PB59 VRF24B
Vibration suppression control 2 -
Resonance frequency damping after gain
switching
0.05
7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 21
(b) Switching timing chart
After-switching gain
63.4%
CDT = 100 ms
Before-switching gain
Gain switching
Control command
from controller
OFF
ON
OFF
Model loop gain 100 → 50 → 100
Load to motor inertia ratio/load to motor
mass ratio
4.00 → 10.00 → 4.00
Position loop gain 120 → 84 → 120
Speed loop gain 3000 → 4000 → 3000
Speed integral compensation 20 → 50 → 20
Vibration suppression control 1 - Vibration
frequency
50 → 60 → 50
Vibration suppression control 1 -
Resonance frequency
50 → 60 → 50
Vibration suppression control 1 - Vibration
frequency damping
0.20 → 0.15 → 0.20
Vibration suppression control 1 -
Resonance frequency damping
0.20 → 0.15 → 0.20
Vibration suppression control 2 - Vibration
frequency
20 → 30 → 20
Vibration suppression control 2 -
Resonance frequency
20 → 30 → 20
Vibration suppression control 2 - Vibration
frequency damping
0.10 → 0.05 → 0.10
Vibration suppression control 2 -
Resonance frequency damping
0.10 → 0.05 → 0.10
(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]