NSK MEGATORQUE M-ESB-YSB2020AB300, Руководство пользователя

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B B 3 3 t t y y p p e e B B 5 5 t t y y p p e e 7.2. For More Advanced Operation
7.2.7. Automatic Gain Setting
2 2 3 3 t t y y p p e e 2 2 5 5 t t y y p p e e
7.2.7. Automatic Gain Switching
l
This function is to switch the servo gain for positioning or stopping along the error of position
error counter.
l
This is useful when the servo gain cannot be increased because of vibration caused by low
rigidity of a system while the Motor is stopping. This function lowers the gain automatically so
that the Motor does not vibrate when stopping.
l
In addition, it will ensure minimum vibration in positioning by lowering the gain, and shorter
settling time by increase in the gain at stopping positioning.
Table 7-24: Parameters related to automatic gain switching
Parameter Function Sipping set
GP Threshold to switch gain GP0
GT Timer to check stability for switching GT5
VG Velocity loop proportional gain in positioning VG1.0
VI Velocity loop Integrator frequency in positioning VI1.00
VGL Velocity loop proportional gain in stopping state
VGL1.0
VIL Velocity loop integrator frequency in stopping state VIL1.00
TG Monitor of gain switching state
Command to read out.
l
This function is disabled when setting of the parameter GP is GP0. In such a case, the gains for
positioning VG and VI are always used.
l
If setting of the parameter GP is other than 0, the gains VG and VI are used for positioning
operation. When the Motor has stopped and the error of position error counter is less than the
setting of GP, the gains VGL and VIL for stopping are used.
l
If the parameter GT is set, the gain will be switched into that of stopping state when the
deviation of position error counter remains under the GP setting for a time set by GT.
Figure 7-47: Timing of switching gain
Stability timer
Example: GT5: 5 ms
RS-232C command or
RUN input
＜
5 ms
³ 5 ms
Switching gain
VG ， VI VGL ， VIL VGL ， VIL
Position error
GP setting
à
The positioning gains VG and VI will be forcibly used when positioning command
such as Programmable Indexer, internal pulse generation by the RS-232C
communication, or the pulse train command is inputted.
à
In case of a positioning with external pulse train command, the System will regard the
low frequency pulse input fewer than 2 Kpps as no input of command, and thus
causing frequent switching of the gain. In such a cases, setting timer for stabilizing
switching gain GT helps to control frequent gain switching.
à
Function of lowering gain is always available. When automatic gain switching is
functioning, the velocity loop gain will be lowered along the LVG input.
(VG × LG, VGL × LG)