GSK DA98B, Руководство пользователя

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GSK CNC Equipment Co., Ltd.
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fluctuation. If the setting is decreased, the filtering for analog instruction will be
enhanced. The error of the stable increases (error followed increasing) and running
characteristic lags severely if the setting is too small. If the setting is too large, the
speed fluctuation and instruction disturbance enhance that may result in shaking.
Set proper speed proportional gain PA05 and speed integral gain PA06 according to the
methods introduced above.
PA09 Orientation loop proportional gain range
（
10-70
）
PA09 is the orientation loop proportional gain. Set a larger value as far as possible in a
stable range. For a large orientation proportional gain, on one side, it can make the servo to
act swiftly and the tracking trait of orientation instruction with smaller lagging error much
better; on the other hand, too large setting may result in shaking trend of motor and too
large setting may cause the motor to run unsteadily. If the setting is above 140, there is
predominantly accidented surface in the sphere machining. Also oscillation is liable to occur
in the stop orienting. If the orientation loop proportional gain is set too small, the action of
the system is slow and the machining precision is bad. Over-cutting occurs if the value is
below 10.
PA10 Orientation feedforward gain is set for 0%.
PA11 Cut-off frequency of orientation feedforward instruction filter range （ 1-1200 ）
While the orientation feedforward gain is required to increase without leading to the voice in
the process of acceleration and deceleration of motor, properly reduce the cut-off frequency
of orientation feedforward instruction filter. The larger the PA11 setting is and the higher the
cut-off frequency of orientation loop feedward instruction filter is, the more liable the noise is
to occur in the acceleration and deceleration of the motor. Also the orientation overshooting
is liable to occur.
①
If position proportional gain setting value is set for a small one, the
system is stable, but the position tracking trait is getting bad and the
lag error is getting larger.
②
Refer to [ position proportional gain ] setting values as following
table:
Rigidity Position proportional gain
Low rigidity
10
～
20/s
Middle rigidity
30
～
50/s
High rigidity 50 ～ 70/s
Parameter adjustment for position loop