NSK M-EGA-15A2301, User Manual

Page: 90 / 237

5.Operation Parameters list
5-25
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General parameters Group4
“
Gain switching control/ Vibration suppressor frequency switching
settings
”
ID Symbol Name
Standard
value
Unit Setting range
00 KM2 Model Control Gain 2 30 1/s 1 to 3000
01 KP2 Position Loop Proportional Gain 2 30 1/s 1 to 3000
02 TPI2 Position Loop Integral Time Constant 2 1000.0 ms 0.3 to 1000.0
03 KVP2 Velocity Loop Proportional Gain 2 50 Hz 1 to 2000
04 TVI2 Velocity Loop Integral Time Constant 2 20.0 ms 0.3 to 1000.0
05 JRAT2 Load Inertia Moment Ratio 2 100 % 0 to 15000
06 TCFIL2 Torque Command Filter 2 600 Hz 1 to 4000
10 KM3 Model Control Gain 3 30 1/s 1 to 3000
11 KP3 Position Loop Proportional Gain 3 30 1/s 1 to 3000
12 TPI3 Position Loop Integral Time Constant 3 1000.0 ms 0.3 to 1000.0
13 KVP3 Velocity Loop Proportional Gain 3 50 Hz 1 to 2000
14 TVI3 Velocity Loop Integral Time Constant 3 20.0 ms 0.3 to 1000.0
15 JRAT3 Load Inertia Moment Ratio 3 100 % 0 to 15000
16 TCFIL3 Torque Command Filter 3 600 Hz 1 to 4000
20 KM4 Model Control Gain 4 30 1/s 1 to 3000
21 KP4 Position Loop Proportional Gain 4 30 1/s 1 to 3000
22 TPI4 Position Loop Integral Time Constant 4 1000.0 ms 0.3 to 1000.0
23 KVP4 Velocity Loop Proportional Gain 4 50 Hz 1 to 2000
24 TVI4 Velocity Loop Integral Time Constant 4 20.0 ms 0.3 to 1000.0
25 JRAT4 Load Inertia Moment Ratio 4 100 % 0 to 15000
26 TCFIL4 Torque Command Filter 4 600 Hz 1 to 4000
30 GCFIL Gain Switching Filter 0 ms 0 to 100
40 SUPFRQ2 FF Vibration Suppressor Frequency 2 500 Hz 5 to 500
41 SUPFRQ3 FF Vibration Suppressor Frequency 3 500 Hz 5 to 500
42 SUPFRQ4 FF Vibration Suppressor Frequency 4 500 Hz 5 to 500
50 ANRFRQ2 Model Control Anti-resonance Frequency 2 80.0 Hz 10.0 to 80.0
51 RESFRQ2 Model Control Resonance Frequency 2 80.0 Hz 10.0 to 80.0
52 ANRFRQ3 Model Control Anti-resonance Frequency 3 80.0 Hz 10.0 to 80.0
53 RESFRQ3 Model Control Resonance Frequency 3 80.0 Hz 10.0 to 80.0
54 ANRFRQ4 Model Control Anti-resonance Frequency 4 80.0 Hz 10.0 to 80.0
55 RESFRQ4 Model Control Resonance Frequency 4 80.0 Hz 10.0 to 80.0
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General parameters Group5
“
High settling control settings
”
ID Symbol Name
Standard
value
Unit Setting range
00 CVFIL Command Velocity Low-pass Filter 1000 Hz 1 to 4000
01 CVTH Command Velocity Threshold 20 min
-1
0 to 6553.5
02 ACCC0 Acceleration Compensation 0 ×50 Pulse -9999 to +9999
03 DECC0 Deceleration Compensation 0 ×50 Pulse -9999 to +9999