YASKAWA CIMR-M5 Series, Instruction Manual

Page: 178 / 305

10.3 Magnetic Sensor Orientation Constants
10 -11
10.3 Magnetic Sensor Orientation Constants
The magnetic sensor orientation constants are listed in the following table.
Table 10.3 Magnetic Sensor Orientation Constants
Con-
stant
No.
Name Explanation Change
*
1
Unit Standard
Setting
Upper
Limit/
Lower
Limit
C3 01
Load Shaft Position-
ing Origin
Mechanical origin of the load shaft. Set difference from magnetic
sensor signal in degrees
Yes Deg 0 00
2.00
C3-01
ing Origin
P
ORG
sensor signal in degrees.
Yes Deg. 0.00
− 2.00
C3 02
Position Control Pro-
portional Gain (H)
K
PH
Position control proportional gain when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
lected (i.e., CHW is OFF).
Yes 1/sec 15
99
C3-02 K
PH
lected (i.e., CHW is OFF).
Increasing K
PH
increases rigidity.
Speed reference (pps) = K
PH
×
Position tolerance (pulses)
Yes 1/sec 15
1
C3 03
Position Control Pro-
portional Gain (M)
Position control proportional gain when medium-speed gear is se-
lected (i.e., MGR is ON). Increasing K
PM
increases rigidity.
Yes 1/sec 15
99
C3-03
p ( )
K
PM
( , ) g
PM
g y
Speed reference (pps) = K
PM
×
Position tolerance
(pulses)
Yes 1/sec 15
1
C3 04
Position Control Pro-
portional Gain (L)
K
PL
Position control proportional gain when low-speed gear is selected
(i.e., LGR is ON) or when low-speed winding is selected (i.e., CHW
is ON).
Yes 1/sec 15
99
C3-04
K
PL
is ON).
Increasing K
PL
increases rigidity.
Speed reference (pps) = K
PL
×
Position tolerance (pulses)
Yes 1/sec 15
1
C3 05
Speed Control Pro-
portional Gain (H)
Speed control proportional gain when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se-
l d (i CHW i OFF) i i i l (i ORT i ON)
Yes %/Hz 40
255
C3-05
p ( )
K
VHO
( , ) g p g
lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
Torque reference P = K
VHO
×
Speed tolerance
Yes %/Hz 40
1
C3 06
Speed Control Inte-
gral Time Constant
(H)
Speed control integral time constant when high-speed gear is se-
lected (i.e., MGR and LGR are OFF) or when high-speed winding is
l d (i CHW i OFF) i i i l (i ORT i ON)
Yes ms 100
1000
C3-06
g
(H)
τ
VHO
( , ) g p g
selected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
Torque reference I = Torque reference P
×
Time /
τ
VHO
Yes ms 100
5
C3 07
Speed Control Pro-
portional Gain (M, L)
Speed control proportional gain when low-speed gear is selected
(i.e., MGR or LGR is ON) or when low-speed winding is selected
(i CHW i ON) i i i l (i ORT i ON)
Yes %/Hz 40
255
C3-07
p ( , )
K
VLO
( , ) p g
(i.e., CHW is ON) in orientation control (i.e., ORT is ON).
Torque reference P = K
VLO
×
Speed tolerance
Yes %/Hz 40
1
C3 08
Speed Control Inte-
gral Time Constant
(M L)
Speed control integral time constant when low-speed gear is selected
(i.e., MGR or LGR is ON) or when low-speed winding is selected
(i CHW i ON) i i i l (i ORT i ON)
Yes ms 100
1000
C3-08
g
(M, L)
τ
VLO
( , ) p g
(i.e., CHW is ON) in orientation control (i.e., ORT is ON).
Torque reference I = Torque reference P
×
Time /
τ
VLO
Yes ms 100
5
C3 09
Positioning Comple-
tion Detection Width
Detection width for outputting completion signal when the load shaft
approaches the stop reference position
No Deg 0 5
20.0
C3-09
tion Detection Width
Z
FIN
approaches the stop reference position.
Detection width is stop reference position
±
Z
FIN.
No Deg. 0.5
0.0
C3 10
Positioning Comple-
tion Cancel Width
Set value for canceling completion signal when the load shaft is
moved after completion signal is output
No Deg 1 0
20.0
C3-10
tion Cancel Width
Z
CAN
moved after completion signal is output.
Cancel width at stop reference position
±
Z
CAN.
No Deg. 1.0
Z
FIN
C3 11
Orientation Speed Speed applied (after detecting magnetic sensor signal) until changing
t th l d i i t ti
No min
− 1
400
600
C3-11
p
S
ORT
p pp ( g g g ) g g
to the servo loop during orientation.
No min
− 1
400
40
C3 12
BCD Stop Position
Reference Resolution
Completion signal cancel angle per minimum increment for deter-
mining stop position for incremental positioning with BCD com-
No Deg 1 0
180.0
C3-12
Reference Resolution
P
BCD
mining stop position for incremental positioning with BCD com-
mand after stopping at home position.
No Deg. 1.0
0.5
C3 13
Virtual Stop Position
Offset
Stop position offset for smoothing stop operation when the servo
loop is used
No Deg 0 0
10.0
C3-13
Offset
P
IMG
loop is used.
When Z
FIN
is reached, offset becomes 0.
No Deg. 0.0
0
C3 14
Orientation Speed
Changing Ratio
Speed changing ratio for gradually reducing orientation speed to
reduce gear noise when switching from orientation speed to servo
No 0
100
C3-14
Changing Ratio reduce gear noise when switching from orientation speed to servo
loop speed.
No --- 0
0
10