7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 10
(2) When you choose changing by droop pulses
In this case, gain changing vibration suppression control cannot be used.
(a) Setting
Parameter No. Abbreviation
Name
Setting
Unit
PB07
PG1
Model loop gain
100
rad/s
PB06
GD2
Load to motor inertia moment ratio
4.0
Multiplier
( 1)
PB08
PG2
Position loop gain
120
rad/s
PB09
VG2
Speed loop gain
3000
rad/s
PB10
VIC
Speed integral compensation
20
ms
PB29 GD2B
Gain changing load to motor inertia moment
ratio
10.0
Multiplier
( 1)
PB30
PG2B
Gain changing position loop gain
84
rad/s
PB31
VG2B
Gain changing speed loop gain
4000
rad/s
PB32
VICB
Gain changing speed integral compensation
50
ms
PB26
CDP
Gain changing selection
0003
(Changed by droop pulses)
PB27
CDS
Gain changing condition
50
pulse
PB28
CDT
Gain changing time constant
100
ms
(b) Changing timing chart
After-changing gain
Before-changing gain
Change of
each gain
CDT 100ms
63.4
Droop pulses
[pulse]
CDS
CDS
0
Command pulse
Droop pulses
Model loop gain
100
Load to motor inertia moment ratio
4.0
10.0 4.0
10.0
Position loop gain
120
84 120
84
Speed loop gain
3000
4000 3000
4000
Speed integral compensation
20
50 20
50
Содержание MELSERVO-J3W Series
Страница 17: ...8 MEMO ...
Страница 27: ...1 FUNCTIONS AND CONFIGURATION 1 10 MEMO ...
Страница 87: ...4 STARTUP 4 14 MEMO ...
Страница 117: ...5 PARAMETERS 5 30 MEMO ...
Страница 129: ...6 GENERAL GAIN ADJUSTMENT 6 12 MEMO ...
Страница 185: ...10 CHARACTERISTICS 10 8 MEMO ...
Страница 241: ...11 OPTIONS AND AUXILIARY EQUIPMENT 11 56 MEMO ...
Страница 274: ...13 USING A LINEAR SERVO MOTOR 13 25 1 2 3 4 ...