Mitsubishi Electric MR-J2-03B5, Инструкция по эксплуатации

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5 - 4
5. PARAMETERS
Classifi-
cation
No. Symbol Name and Function
Initial
Value
Unit
Setting
Range
9 RSP Servo response
Used to select response of auto tuning.
0 0 0
Response selection
Optimum response can be selected
according to the rigidity of the machine.
As machine rigidity is higher, faster response
can be set to improve tracking performance
in response to a command and to reduce
settling time.
When changing the setting, look at the vibration and stop settling of
the servo motor and machine immediately before they stop and
during their stop, and always increase the setting in sequence,
beginning with the slower response.
0004 0001h
to
000Ch
10 TLP Forward rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
reverse rotation regenerative mode. 300 % 0
to
500
B
asi
c p
ara
m
et
ers
11 TLN Reverse rotation torque limit
Assume that the rated torque is 100[%].
Used to limit the torque in the forward rotation driving mode and
forward rotation regenerative mode. 300 % 0
to
500
12 GD2 Ratio of load inertia to servo motor inertia (load inertia ratio)
Used to set the ratio of the load inertia (inertia moment) to the
inertia moment of the servo motor shaft. When auto tuning is
selected, the result of auto tuning is automatically used. 30 0.1
times
0
to
1000
Adj
u
st
me
n
t pa
ra
me
te
rs
13 PG1 Position loop gain 1
Used to set the gain of position loop 1. Increase the gain to improve
trackability performance in response to the position command. 145 rad/s 4
to
1000
Description
Machine
Type
Setting
Response
Guideline for
corresponding
machine rigidity
GDL
2
/GDM
2
guideline for load
inertia
Guideline for Position
Settling Time
GDL
2
/GDM
2
guideline
within 5 times
50 to 300ms
10 to 70ms Normal
1
2
3
4
5
Low response
Middle
response
High response
Low rigidity
to
Medium rigidity
to
High rigidity
10 to 30ms
70 to 400ms
10 to 100ms
Large
friction
8
9
A
B
C
Low response
Middle
response
High response
Low rigidity
to
Medium rigidity
to
High rigidity
1 to 10 times
10 to 50ms