No. Name
Description
Range
Min.
Max.
12 APOSP
* AUTO TUNING POSITION P-GAIN
Used to set the auto tuning P-gain for position loop.
It is applicable when servo parameter Svpar-00 is set in 1.
This parameter is automatically adjusted and saved at the end of auto
tuning action or manually edited in servo parameter edit mode.
It determines the response of position control. If the value is bigger,
the response is getting better to reduce the position determination time.
However, the high limit value depends upon the machine resonant
frequency. If the value is too big to make the vibration, there is a
noise in the mechanical part and big overshoot. The value is in inverse
proportion to the load inertia.
For detailed explanation, refer to the chapter 15.
1
9999
13 ASPDP
* AUTO TUNING SPEED P-GAIN
Used to set the auto tuning P-gain for speed loop.
It is applicable when servo parameter Svpar-00 is set in 1.
This parameter is automatically adjusted and saved at the end of auto
tuning action or manually edited in servo parameter edit mode.
It determines the response of speed control. If the value is bigger, the
response is getting faster to reduce the rising time. If the value is too
big to make the hunting, the servo motor may be unstable. The value
is in directly proportion to the load inertia. Sometimes, the operation of
repeated abrupt acceleration and deceleration requires only the P-gain.
It performs a good transient response.
For detailed explanation, refer to the chapter 15.
1
9999
14
ASPDI
* AUTO TUNING SPEED I-GAIN
Used to set the auto tuning I-gain for speed loop.
It is applicable when servo parameter Svpar-00 is set in 1.
This parameter is automatically adjusted and saved at the end of auto
tuning action or manually edited in servo parameter edit mode.
The bigger the value the better the steady state response, and as the
result the speed loop error is reduced at the steady state. If the value
is too big to make the hunting, the servo motor may be unstable.
So, it shall be used in the proper range. Especially in case of ultra low
speed, the intermittent revolution phenomena disappear due to I-gain of
the speed loop.
If the servo motor at a stop is rotated even one pulse due to an
external factor, it generates torque to compensate for a position
mismatch. When the shaft is mechanically locked at a stop, it is very
dangerous
because
of
the
torque
compensating
for
a
position
mismatch. When the servo parameter Svpar-05 "SPDIC“ is set in 1, the
I-gain function is disabled to suppress the unnecessary torque which
attempts to compensate for position mismatch.
For detailed explanation, refer to the chapter 15.
1
9999
15
INERT
* AUTO TUNING INERTIA RATIO
1. Semi-auto tuning mode : It is used for the reference of auto tuning
gain estimation. This value is manually set by the calculated load inertia
percent value proportional to the servo motor inertia.
2. Full-auto tuning mode : This value is saved automatically after
completion of a full-auto tuning. The result of a auto tuning action is
the estimated load inertia percent value proportional to motor inertia.
100
5000
Содержание Tango-B series
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