Sanyo Denki Q1AA04003D, Инструкция по эксплуатации

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５．Parameter
[Parameter setting value【Group3】]
5−11
Page Contents
Position Loop Proportional Gain 3 [KP3]
10
Setting range Unit Standard value
1
〜
3000 1/s 30
Proportional gain for position controller.
Position Loop Integral Time Constant 3 [TPI3]
11
Setting range Unit Standard value
0.5
〜
1000.0 ms 1000.0
Integral time constant for position controller.
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
✍
Cannot be used when position loop proportional
control switching function is enabled.
Velocity Loop Proportional Gain 3 [KVP3]
12
Setting range Unit Standard value
1
〜
2000 Hz 50
Proportional gain for velocity controller.
When load inertia is the one set by load inertia moment
ratio (load mass ratio) 2, the response is this set value.
Velocity Loop Integral Time Constant 3 [TVI3]
13
Setting range Unit Standard value
0.5
〜
1000.0 ms 20.0
Integral time constant for velocity controller. This setting is
enabled when velocity loop proportional control switching
function is disabled.
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
Load Inertia Ratio (Load Mass Ratio) 3 [JRAT3]
14
Setting range Unit Standard value
0
〜
15000 % 100
Sets the inertia moment of load device to the motor inertia
moment. Set value
＝
JL/JM
×
100%
JL
：
Load inertia moment
JM
：
Motor inertia moment
Torque Command Filter 3 [TCFIL3]
15
Setting range Unit Standard value
1
〜
2000 % 600
Parameter to set low pass filter to torque command. Sets
the cut off frequency.
Position Loop Proportional Gain 4 [KP4]
20
Setting range Unit Standard value
1
〜
3000 1/s 30
Proportional gain for position controller.
Position Loop Integral Time Constant 4 [TPI4]
21
Setting range Unit Standard value
0.5
〜
1000.0 ms 1000.0
Integral time constant for position controller. Integral term
is disabled (proportional control) with the set value of
1000.0ms.
✍
Cannot be used when position loop proportional
control switching function is enabled.
Velocity Loop Proportional Gain 4 [KVP4]
22
Setting range Unit Standard value
1
〜
2000 Hz 50
Proportional gain for velocity controller.
When load inertia is the one set by load inertia moment
ratio (load mass ratio) 2, the response is this set value.
Velocity Loop Integral Time Constant 4 [TVI4]
23
Setting range Unit Standard value
0.5
〜
1000.0 ms 20.0
Integral time constant for velocity controller. This setting is
enabled when velocity loop proportional control switching
function is disabled.
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
Load Inertia Ratio (Load Mass Ratio) 4 [JRAT4]
24
Setting range Unit Standard value
0
〜
15000 % 100
Sets the inertia moment of load device to the motor inertia
moment. Set value
＝
JL/JM
×
100%
JL
：
Load inertia moment
JM
：
Motor inertia moment
Torque Command Filter 4 [TCFIL4]
25
Setting range Unit Standard value
1
〜
2000 % 600
Parameter to set low pass filter to torque command. Sets
the cut off frequency.
Low Pass Filter of Gain Switching [GCFIL]
30
Setting range Unit Standard value
0
〜
100 ms 0
Parameter to set time constant for gain switching.
The larger the value is, the gentler the switching is.