Sanyo Denki Sanmotion R 3E S, Инструкция по эксплуатации

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5.8 Parameter functions
5-70
5
O
per
ation
－ Group2 －
ID Contents
33
Observer Output Notch Filter
[OBNFIL]
Setting range Unit Default
100 to 4000 Hz 4000
■
This is notch filter to eliminate arbitrarily selected frequency from observer compensation.
Sets the resonant frequency.
When resonance appears in disturbance observer output, such as sympathetic vibration with
the mechanical system, this notch filter sometimes suppresses the vibration.
 This parameter can set in 1 Hz unit, but the units listed below are applied internally.
40
Effective velocity for compensating stick-slip behavior
[STV]
Setting range Unit Default
0.1 to 128.0 min -1 10.0
■
Sets the velocity at which stick-slip behavior compensatory function works.
 Stick-slip behavior compensatory function works when the velocity command inside of
servo amplifier is the set value or less.
 Stick-slip behavior compensation is effective when the valid condition of stick-slip
behavior compensatory function (Group9 ID34) is satisfied.
41
Retention time for compensating stick-slip behavior
[STHLD]
Setting range Unit Default
1 to 500 ms 20
■
Sets the time to retain stick-slip behavior compensation.
 Stick-slip behavior compensation continues till the above set time elapses even if the
velocity command inside of servo amplifier exceeds the effective velocity for
compensating stick-slip behavior.

Increase the value of the time if velocity loop responsiveness is low.
 Stick-slip behavior compensation is effective when the valid condition of stick-slip
behavior compensatory function (Group9 ID34) is satisfied.
42
Velocity loop integral time constant for stick-slip
behavior compensation
[STTVI] Setting range Unit Default
0.3 to 1000 ms 3.0
■
Sets the Velocity loop integral time constant for stick-slip behavior compensation.
 The above set value applies to velocity loop integral time constant while stick-slip
behavior compensation is being performed.
 This velocity loop integral time constant for stick-slip behavior compensation sets smaller
velocity loop integral time constant values than the ones normally used. If you set the
value larger than the above, stick-slip behavior compensation doesn't work.
 Stick-slip behavior compensation doesn't work when velocity loop is in proportional
control. Please carefully set the effective condition of "Velocity loop proportional control
switching function" (Group9 ID27) when applying P-PI control switching to velocity control
system.
 Stick-slip behavior compensation is effective when the valid condition of stick-slip
behavior compensatory function (Group9 ID34) is satisfied.
Setting value Unit and process inside servo amplifier
100 to 1999Hz Valid by 10Hz and drop less than 10
2000 to 4000Hz Filter invalid
Frequency [Hz]
Resonant frequency fn
Gain [dB]
-3[dB]
0.62×fn
1.62×fn