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6F3A4768
5.4.2 Speed Control
5.4.2.1 Speed Control 1 (ASPR)
Fig. 5.4.3 shows the speed control 1 (ASPR) block diagram.
Speed reference signal SP_R and the speed feedback are input with count 25000/100% weighting and the
deviation between these two is subjected to proportional/integral operations and output. After this signal is
subjected to speed filtering and torque limit processing, its torque reference SFC_T_R is output with count
4000/100% weighting.
Control response is performed with the following parameter settings.
$ASPR_A: Anti-overshoot
gain
Setting this parameter to a large value can reduce excessive overshoot.
$ASPR_AT:
Anti-overshoot time constant
Adjust this parameter to reduce overshoot.
$ASPR_P: Proportional
gain
This parameter is set by GD
2
and target response.
$ASPR_W1: Response
target
This parameter sets the target response with 0.01 rad/s unit.
Note that if GD
2
of the machine is extremely large compared to GD
2
of the motor or if there is axial resonance,
the control response may not be increased.
Limit calculation
Section 5.4.3.2
Speed
reference
Section 5.4.1
SP_R
<Anti-overshoot>
<Differentiation>
<Proportion>
SFC (option)
Simulator
<ACR>
<Inertia>
To Section
5.4.3.1
<Torque limit>
<Anti-over>
<Speed control>
$ASPR_A: Anti-overshoot
gain
$ASPR_AT: Anti-overshoot gain time constant
$ASPR_P: Proportional
gain
$ASPR_W1: Response target
<Filter>
<
Proportion
>
<Integration>
Speed detection
Section 5.4.6
SP_F
+
-
+
-
+
$FLT_T_R
SFC_T_R
4000/100%
Speed control gain
switching
(Option)
Switching of a
maximum of 4 stages
$ASPR_G_SEL
$FLT_SFC: ACR simulator
$OP_SFC_J: Inertia
$OP_SFC_P: Proportion
$OP_SFC_D: Differentiation
$OP_SFC_A: Anti-overshoot
$LMT_SFC_D: Differentiation limit
To Section
5.4.4
<Limit>
SFC_DATA
25000/100%
+
+
-
+
-
Fig. 5.4.3 Speed Control
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