Mitsubishi Electric Melservo-J5 MR-J5 Series, Руководство пользователя

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12 USING A FULLY CLOSED LOOP SYSTEM
12.4 Startup
Setting the fully closed loop dual feedback filter
Use auto tuning or a similar mode to adjust the gain in the same way as when using semi closed loop control while [Pr. PE08
Fully closed loop dual feedback filter] is being set to the initial value (setting value = 10).
Adjust the dual feedback filter while observing the servo operation waveforms with the graph function or a similar function of
MR Configurator2.
The operation status of the dual feedback filter varies depending on the setting value as shown below.
When the setting value for the dual feedback filter is increased, the settling time becomes shorter. However the vibration of
the servo motor will be larger because the servo motor becomes susceptible to the vibrations of the load-side encoder.
For the dual feedback filter, set a value that is equal to or smaller than a half of the setting value for PG2.
• To shorten the settling time: Increase the value for the dual feedback filter.
• To suppress vibration: Decrease the value for the dual feedback filter.
[Pr. PE08] setting value Control mode Vibration Settling time
1
to
4499 Dual feedback Hardly occurs
to
Easily occurs Longer
to
shorter
4500 Fully closed  
Droop pulses
Command
Droop pulses
Command
Time Time
Droop pulses
Command
Droop pulses
Command
Time Time