Sanyo Denki Sanmotion R 3E S, Инструкция по эксплуатации

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6.4 Manual tuning function
6-18
6
Servo Tunin
g
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Group1 ID06 "Velocity Feed Forward Gain [FFGN]"
The tracking effect of position command can be improved by increasing this gain. Under
positioning control, set this to approximately 30-40% as the standard.
 When Group1 ID1E "Higher Tracking Control Position Compensation Gain [TRCPGN]"
is set to other than 0%, this parameter is automatically set.
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Group1 ID07 "Velocity Feed Forward Filter [FFFIL]"
When position command resolution is low, set this parameter to suppress ripples.
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Group1 ID08 "Higher Tracking Control Position Compensation Gain [TRCPGN]"
When the tracking effect needs to be improved under high resolution of position command,
increase this parameter after adjustment of Higher Tracking Control Velocity Compensation
Gain.
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Group1 ID12 "Velocity Loop Proportional Gain 1 [KVP1]"
Set the value as high as possible in stable range that machine system does not vibrate and
oscillate. If Group1 ID14 "Load Inertia Moment Ratio 1 [JRAT1]" is properly set, the set value
as "Velocity Loop Proportional Gain 1 [KVP1]" becomes velocity control responsive band.
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Group1 ID13 "Velocity Loop Integral Time Constant 1 [TVI1]"
Set this to: TVI1 [ms] = 1000/(KVP1 [Hz]), as a rough indication.
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Group1 ID14 "Load inertia moment ratio 1 [JRAT1]"
Set this value to the calculation shown below:
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Group1 ID1E "Higher Tracking Control Velocity Compensation Gain [TRCVGN]"
Tracking effect can be improved by increasing compensation gain.
Adjust this to shorten the position setting time.
 Set the value of "Load Inertia Moment Ratio 1 [JRAT1]" properly to use this function.
 Set 0% when you use Group9 ID27 "Velocity Loop Proportional Control Switching
Function [VLPCON]” during operation.
 Set at 100% to equal Q-series servo amplifier.
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Group1 ID20
“
Torque Command Filter 1 [TCFIL1]"
When rigidity of the mechanical device is high, set this value high and the "Velocity Loop
Proportional Gain1 [KVP1]" can also be set higher. When the rigidity of the mechanical device
is low, set this value low and resonance in the high frequency zone as well as abnormal sound
can be suppressed. For normal usage, set this below 1200Hz.
JRAT=
Servo motor rotor inertia moment (JM)
Motor axis converted load inertia moment (JL)
× 100%