Omron CJ1W-MA - REV 10-2008, Руководство по эксплуатации

Страница: 133 / 644

106
Servo Parameter Area Section 4-5
Pn018 0 to 6400 2 Sets the position loop gain when using gain 2 switching.
Same function as Pn010. 200
×
0.1
[1/s]
0 to 30000 Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn019 Speed Loop
Gain 2 (RT) 2 Sets the speed loop gain when using gain 2 switching.
Same function as Pn011. 800
×
0.1
Hz
1 to 30000 Online
Pn01A Speed Loop
Integration
Time Con-
stant 2 (RT) 2 Sets the speed loop integration time constant when using gain 2
switching.
Same function as Pn012.
Set 9999 to stop integration operation while retaining the integra-
tion value. Setting 10000 disables integration. 500
×
0.1
ms
1 to 10000 Online
Pn01B Speed
Feedback
Filter Time
Constant 2
(RT) 2 Sets the speed detection filter when using gain 2 switching.
Same function as Pn013. Normally, use a setting of 0.
When Instantaneous Speed Observer Setting (Pn027) is enabled,
this parameter will be disabled. 0 --- 0 to 5 Online
Pn01C Torque
Command
Filter Time
Constant 2
(RT) 2 Sets the first-order lag filter time constant for the torque command
section when using gain 2 switching.
Same function as Pn014. 100
×
0.01
ms
0 to 2500 Online
Pn01D Notch Filter
1 Fre-
quency 2 Sets the notch frequency of notch filter 1 for resonance suppres-
sion.
This filter must be matched with the resonance frequency of the
load. 1500 Hz 100 to 1500 Online
100 to
1499 Filter enabled
1500 Filter disabled
Pn01E Notch Filter
1 Width 2 Selects the notch width of notch filter 1 for resonance suppression.
Normally, use a setting of 2. 2 --- 2 Online
Pn01F Reserved --- Do not change. 0 --- --- ---
Pn020 Inertia Ratio
(RT) 2 Sets the load inertia as a percentage of the Servomotor rotor iner-
tia.
Setting [%] = (Load inertia / Rotor inertia)
×
100
The inertia ratio estimated during realtime autotuning is stored in
the EEPROM every 30 minutes.
300 % 0 to 10000 Online Settings
can be
changed
when the
axes are
stopped
(Busy
Flag for
each axis
= 0).
Pn021 Realtime
Autotuning
Mode
Selection 2 Sets the operating mode for realtime autotuning.
A setting of 3 or 6 will provide faster response to changes in inertia
during operation. Operation, however, may be unstable depending
on the operating pattern.
Normally, use a setting of 1 or 4.
Set to 4 to 6 when the Servomotor is used as a vertical axis.
Gain switching is enabled at set values 1 to 6.
Use a setting of 7 if operation changes caused by gain switching
are a problem. 0 --- 0 to 7 Online
Pn022 Realtime
Autotuning
Machine
Rigidity
Selection 2 Sets the machine rigidity for realtime autotuning.
Increasing this value increases the responsiveness.
If the value is changed suddenly by a large amount, the gain will
change rapidly, subjecting the machine to shock.
Always start by making small changes in the value, and gradually
increase the value while monitoring machine operation.
Cannot be set to 0 when using the Parameter Unit. 2 --- 0 to F Online
Param-
eter
No.
Parameter
name
Param-
eter
size
Setting Explanation Default
setting
Unit Setting
range
Enable
setting Details
Realtime Autotuning Degree of change in
load inertia
0 Disabled ---
1 Horizontal axis mode Almost no change
2 Gradual changes
3 Sudden changes
4 Vertical axis mode Almost no change
5 Gradual changes
6 Sudden changes
7 Gain switching disable
mode Almost no change