3-49
Default: [ ]
Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When In T
roubie
7
Supplement
4.Details of Parameter
【
Class 1
】
Gain Adjustment
Pr1.14
2nd gain setup
Range
Unit
Attribute
Default
Related
control code
0 to 1
—
B
1
P S T
Arrange this parameter when performing optimum adjustment by using the gain switching
function.
Setup value
Gain selection/switching
0
1st gain is fixed at a value. By using controller bit Gain_SW with RTEX
communication, change the velocity loop operation from PI to P.
Gain_SW
=
0 PI operation
Gain_SW
=
1 P operation
【1】
Enable gain switching of 1st gain (Pr1.00-Pr1.04) and 2nd gain (Pr1.05-
Pr1.09).
For switching condition of the 1st and the 2nd, refer to P.5-36 "Gain Switching Function" of
Adjustment.
Pr1.15
Mode of position control switching
Range
Unit
Attribute
Default
Related
control code
0 to 10
—
B
0
P
Setup value Switching condition
Gain switching condition
[0]
Fixed to 1st gain
Fixed to the 1st gain (Pr1.00 to Pr1.04).
1
Fixed to 2nd gain
Fixed to the 2nd gain (Pr1.05 to Pr1.09).
2
RTEX communication
gain switching command
• 1st gain when gain switching command
(
Gain_SW
)
with RTEX communication is 0,2nd
gain when Gain_SW is 1.
3
Torque command is
large
• Shift to the 2nd gain when the absolute value of the torque command exceeded (level +
hysteresis) (%) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the torque command was kept below
(level - hysteresis) (%) previously during delay time with the 2nd gain.
5
Speed command is
large
• Shift to the 2nd gain when the absolute value of the speed command exceeded (level +
hysteresis) (r/min) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the speed command was kept below
(level - hysteresis) (r/min) previously during delay time with the 2nd gain.
6
Position deviation is
large
• Shift to the 2nd gain when the absolute value of the positional deviation exceeded (level
+ hysteresis) (pulse) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the positional deviation was kept
below (level - hysteresis) (pulse) previously over delay time with the 2nd gain.
* Unit of level and hysteresis (pulse) is set as the encoder resolution for positional control
and external scale resolution for full-closed control.
7
Position command
exists
•
Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain.
• Return to the 1st gain when the positional command was kept 0 previously during delay
time with the 2nd gain.
8
Not in positioning
complete
•
Shift to the 2nd gain when the positioning was not completed previously with the 1st gain.
• Return to the 1st gain when the positioning was kept in completed condition previously
during delay time with the 2nd gain.
9
Actual speed is
large
• Shift to the 2nd gain when the absolute value of the actual speed exceeded (level +
hysteresis) (r/min) previously with the 1st gain.
• Return to the 1st gain when the absolute value of the actual speed was kept below (level
- hysteresis) (r/min) previously during delay time with the 2nd gain.
10
Position command
Actual speed
•
Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain.
• Return to the 1st gain when the positional command was kept at 0 during the delay
time and the absolute value of actual speed was kept below (level - hysteresis ) (r/min)
previously with the 2nd gain.
Related page
Set up the triggering condition of gain switching for position control.
The switching condition of 1st gain and 2nd gain refer to P.5-36 Adjustment “ Gain Swiching
Function ” .
Related page
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