IAI MCON-C, Инструкция по эксплуатации

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[56] Servo gain switchover time constant (Parameter No.138)
No. Name Symbol Unit Input Range
Default factory
setting
138 Servo Gain Switchover Time
Constant
GCFT msec 10 to 2000 10
When a switchover of the servo gain set is commanded in the position table, the switchover
process is completed after time more than 3 times of the time spent in the setting of this
parameter is passed since the operation of the commanded position number has started.
[57] Overload level ratio (Parameter No. 143)
No. Name Symbol Unit Input Range
Default factory
setting
143 Overload Level Ratio OLWL % 50 to 100 100
With the motor temperature of when an operation is held at the rating being set as 100%, the
048 overload warning (message level) is output when the motor temperature exceeds the rate
set in this parameter. [Refer to 8.2 [64].]
The judgment would not be made if the value is set to 100%.
Do not attempt to change the setting for this feature from the initial setting in the pulse motor
type as the feature is not applicable in this type.
[58] Gain scheduling upper limit multiplying ratio (Parameter No.144)
No. Name Symbol Unit Input Range
Default factory
setting
144 Gain Scheduling Upper Limit
Multiplying Ratio
GSUL % 0 to 1023 0 (Disabled)
Gain scheduling is the function to change the gain in accordance with the operation speed.
This parameter shows the multiplying rate of the upper limit of the changeable gain.
With the set multiplying rate, the values for GS Velocity Loop Proportional Gain (Parameter
No.145) and GS Velocity Loop Integrated Gain (Parameter No.146) are changed.
Set Value Description
100 or less Gain scheduling disabled
101 to 1023 Gain scheduling enabled (Recommended value 300)
[59] GS velocity loop proportional gain (Parameter No.145)
No. Name Symbol Unit Input Range
Default factory
setting
145 GS Velocity Loop Proportional
gain
GSPC - 1 to 30000
In accordance
with actuator
When the gain scheduling upper multiplying rate (Parameter No.144) is set to 101 or more, this
parameter setting becomes effective for Velocity Loop Proportional Gain.
[Refer to the 8.2 [23] Velocity loop proportional gain for the details]
Also, for the conditions to use this item, refer to “Selecting to Use Velocity Loop Proportional
Gain and Velocity Loop Integrated Gain” in the bottom of 8.2 [24].
Caution: A time constant being rather short may cause the servo gain to change
rapidly to have the operation of the actuator unstable.
For servo motor type only
For pulse motor type only
For pulse motor type only
For servo motor type and
brushless DC motor type only
Chapter 8 Parameter