Fuji Electric ALPHA7, Руководство пользователя

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CHAPTER 4 PARAMETER
Control Gain and Filter Setting Parameters
4-35
4
PA1_61 to 67 Second gain settings
No. Name Setting range
Default
value
Change
61 Gain changing factor
0: Position deviation (×10)
1: Feedback speed
2: Command frequency
(position control)/command speed
(speed contorl)
3: External switch (use CONT signal)
1 Always
62 Gain changing level 1 to 1000 (in increments of 1) 50 Always
63 Gain changing time constant 0 [ms] to 100 [ms] (in increments of 1) 1 Always
64 Position loop gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
65 Speed loop gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
66
Speed loop integration time
constant 2 30 [%] to 200 [%] (in increments of 1)
100 Always
67 Feed forward gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
The gain of the servo system is switched from the first gain (PA1_55 to _58) to the second gain
(PA1_64 to _67).
Noise and vibration during stoppage can be reduced through gain switching.
Select the gain changing factor with PA1_61.
The unit of the reference value of the second gain (PA1_64 to _67) is "%." Specify the ratio to the first
gain.
[Example] If PA1_56 (speed loop gain 1) is 100 [Hz] and PA1_65 (speed loop gain 2) is 80 [%], the
second gain is 80 [Hz]. PA1_64 (position loop gain 2) is similar. If PA1_57 (speed loop
integration time constant 1) is 20 [ms] and PA1_66 (speed loop integration time constant 2)
is 50 [%], integration time constant 2 is 40 [ms].
The timing chart of each signal is shown below.
Feedback speed
OFF
ON
Position loop gain
Speed loop gain
Speed loop
integration time
Feed forward gain
External switch
(Servo response switch)
Gain changing level (PA1_62)
Position loop gain 1 (PA1_55)
Speed loop gain 1 (PA1_56)
Speed loop integration time constant 1 (PA1_57)
Feed forward gain 1 (PA1_58)
Gain switching time constant (PA1_63)
Time
Position loop gain 2 (PA1_64)
Speed loop gain 2 (PA1_65)
Speed loop integration time constant 2 (PA1_66)
Feed forward gain 2 (PA1_67)