Sanyo Denki SANMOTION 3E S, Инструкция по эксплуатации

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6. Servo Tuning
6-39
6.10 Stick-slip behavior compensation function
Explains the compensation function of stick-slip behavior which occurs by machine system
friction etc.
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How to use

The function will be valid when the condition which is selected at "Index 0x2050-1
Stick-slip behavior compensation function" is filled.
Example: The function will be always valid when "0x01: Always_Enable" is selected.

Set 70% of "Index 0x200C-1 Velocity Loop Integral Time Constant 1 [TVI1]" to "Index
0x2050-4 Velocity loop integral time constant for stick-slip behavior compensation
[STTVI]", and then confirm the things that stick-slip behavior has reduced.

"Velocity loop integral time constant for stick-slip behavior compensation [STTVI]" is
able to decrease when oscillation does not occur. Increase "Velocity loop integral time
constant for stick-slip behavior compensation [STTVI]" up to the value which has
margin against oscillation, when oscillation occurs.
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Parameters for using the stick-slip behavior compensation function.
 Group9 “Functions enabling conditions settings”
 General parameters Group2
"FF (Feed Forward) vibration suppression control/ Notch filter/ Disturbance observer
settings"
 Effective velocity for compensating stick-slip behavior [STV]
Stick-slip behavior compensation will work when internal velocity command of servo
amplifier is below of this value.
 Retention time for compensating stick-slip behavior [STHLD]
Stick-slip behavior compensation will be kept till over the set time, when internal velocity
command of servo amplifier exceeds STV. Increase this value when response of
velocity control is low.
 Velocity loop integral time constant for stick-slip behavior compensation [STTVI]
This set value will apply to velocity integral control system while stick-slip behavior
compensation is performing.
Index/Sub-Idx Symbol Name Unit Setting range
0x2050/0x01 STC
Stick-slip behavior compensation
function
- 00 to 29
Index/Sub-Idx Symbol Name Unit Setting range
0x2050/0x02 STV
Effective velocity for
compensating stick-slip behavior
min -1 0.1 to 128.0
0x2050/0x03 STHLD
Retention time for compensating
stick-slip behavior
ms 1 to 500
0x2050/0x04 STTVI
Velocity loop integral time
constant for stick-slip behavior
compensation
ms 0.3 to 1000.0