17. APPLICATION OF FUNCTIONS
17 - 55
Parameter Symbol
Name
Setting
value
Unit
PX10
VRF23B Vibration suppression control 2 -
Vibration frequency damping after
gain switching
0.05
PX11
VRF24B Vibration suppression control 2 -
Resonance frequency damping
after gain switching
0.05
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
Summary of Contents for MR-J4-100B(-RJ)
Page 17: ...8 MEMO ...
Page 143: ...4 STARTUP 4 20 MEMO ...
Page 199: ...5 PARAMETERS 5 56 MEMO ...
Page 227: ...6 NORMAL GAIN ADJUSTMENT 6 28 MEMO ...
Page 281: ...8 TROUBLESHOOTING 8 16 MEMO ...
Page 303: ...9 DIMENSIONS 9 22 MEMO ...
Page 319: ...10 CHARACTERISTICS 10 16 MEMO ...
Page 429: ...11 OPTIONS AND PERIPHERAL EQUIPMENT 11 110 MEMO ...
Page 435: ...12 ABSOLUTE POSITION DETECTION SYSTEM 12 6 MEMO ...
Page 483: ...14 USING A LINEAR SERVO MOTOR 14 34 MEMO ...
Page 531: ...16 FULLY CLOSED LOOP SYSTEM 16 26 MEMO ...
Page 613: ...17 APPLICATION OF FUNCTIONS 17 82 MEMO ...
Page 654: ...APPENDIX App 41 ...