Parker FL-20-C Series, Руководство по эксплуатации продукта

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290
1~32000 0.1ms 20 Immediate
Function code Mapping Data type Accessibility
Po133 N INT16 RW
The time from one gain switching to another gain smoothly.
2001h-23h
Speed loop gain switching time PP PV CSP CSV
Setting Range Setting Unit
Mfr’s Value
Effect
0~20000 0.1ms 100 Immediate
Function code Mapping Data type Accessibility
Po134 N INT16 RW
The time from one gain switching to another gain smoothly.
2001h-24h
Gain 2 switch to gain 1 delay time PP PV CSP CSV
Setting Range Setting Unit
Mfr’s Value
Effect
0~32000 0.1ms 1000 Immediate
Function code Mapping Data type Accessibility
Po135 N INT16 RW
When gain 2 switches to gain 1, delay the time set by Po135, then switch
the time according to the setting of Po133.
9.4 Vibration Suppression
9.4.1 Vibration Suppression Function
Resonance may produce at about the mechanical resonance frequency when the servo gain is
increased, making the gain cannot be increased further.
Mechanical resonance can be suppressed in the following two ways:
1)
Torque reference filter (2002h-0Fh and 2002h-10h)
Set the filter time constant to make the torque reference attenuates at above the cutoff frequency,
suppressing mechanical resonance.
2)
Notch filter
The notch reduces the gain at certain frequency to suppress mechanical resonance. After
resonance is suppressed with correct setting of the notch, attempt to increase the gain gradually.
The following figure shows the principle of the notch.