NSK M-EGA-15A2301, Руководство пользователя

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5.Operation Parameters list
5-24
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General parameters Group1
“
Basic control parameter settings
”
ID Symbol Name
Standard
value
Unit Setting range
00 PCSMT
Position Command Smoothing
Constant
0.0 ms 0.0 to 500.0
01 PCFIL Position Command Filter 0.0 ms 0.0 to 2000.0
02 KP1 Position Loop Proportional Gain 1 30 1/s 1 to 3000
03 TPI1
Position Loop Integral Time
Constant 1
1000.0 ms 0.3 to 1000.0
04 TRCPGN
Higher Tracking Control Position
Compensation Gain
0 % 0 to 100
05 FFGN Feed Forward Gain 0 % 0 to 100
06 FFFIL Feed Forward Filter 4000 Hz 1 to 4000
10 VCFIL Velocity Command Filter 4000 Hz 1 to 4000
11 VDFIL Velocity Feedback Filter 1500 Hz 1 to 4000
12 KVP1 Velocity Loop Proportional Gain 1 50 Hz 1 to 2000
13 TVI1
Velocity Loop Integral Time
Constant 1
20.0 ms 0.3 to 1000.0
14 JRAT1 Load Inertia Moment Ratio 1 100 % 0 to 15000
15 TRCVGN
Higher Tracking Control Velocity
Compensation Gain
0 % 0 to 100
16 AFBK Acceleration Feedback Gain 0.0 % -100.0 to 100.0
17 AFBFIL Acceleration Feedback Filter 500 Hz 1 to 4000
20 TCFIL1 Torque Command Filter 1 600 Hz 1 to 4000
21 TCFILOR Torque Command Filter Order 2 Order 1 to 3
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General parameters Group2
“
FF (Feed forward) vibration suppressor control/ Notch filter/
Disturbance observer settings
”
ID Symbol Name
Standard
value
Unit Setting range
00 SUPFRQ1 FF Vibration Suppressor Frequency 1 500 Hz 5 to 500
01 SUPLV FF Vibration Suppressor Level Selection 00 - 00 to 03
10 VCNFIL Velocity Command Notch Filter 1000 Hz 50 to 1000
20 TCNFILA Torque Command Notch Filter A 4000 Hz 100 to 4000
21 TCNFPA
TCNFILA, Low Frequency Phase Delay
Improvement
00 - 00 to 02
22 TCNFILB Torque Command Notch Filter B 4000 Hz 100 to 4000
23 TCNFDB TCNFILB, Depth Selection 00 - 00 to 03
24 TCNFILC Torque Command Notch Filter C 4000 Hz 100 to 4000
25 TCNFDC TCNFILC, Depth Selection 00 - 00 to 03
26 TCNFILD Torque Command Notch Filter D 4000 Hz 100 to 4000
27 TCNFDD TCNFILD, Depth Selection 00 - 00 to 03
30 OBCHA Observer Characteristic 00:Low - 00 to 02
31 OBG Observer Compensation Gain 0 % 0 to 100
32 OBLPF Observer Output Low-pass Filter 50 Hz 1 to 4000
33 OBNFIL Observer Output Notch Filter 4000 Hz 100 to 4000
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General parameters Group3
“
Model following control settings"
ID Symbol Name
Standard
value
Unit Setting range
00 KM1 Model Control Gain 1 30 1/s 1 to 3000
01 OSSFIL Overshoot Suppressor Filter 1500 Hz 1 to 4000
02 ANRFRQ1 Model Control Antiresonance Frequency 1 80.0 Hz 10.0 to 80.0
03 RESFRQ1 Model Control Resonance Frequency 1 80.0 Hz 10.0 to 80.0