(4-1) Example of the parameter settings
Main parameters to be set for APR control.
No. Code Contents Set value Remarks
1 A044 Control method 05 Closed loop control mode
2 P011 ppr of the encoder * Depends on an encoder
3 P012 Control mode 01 APR mode
4 P013 Mode of the pulse train input * Depends on an encoder. See manual
of SJ-FB the mode.
5 P014 Stop position while orientation -
6 P015 Speed while orientation -
7 P016 Direction of orientation -
8 P017 Orientation completion range -
9 P018 Delay time for orientation completion -
No need to set since this is not
positioning.
10 P019 Position of an electronic gear * Depends
11 P020 Numerator of an electronic gear * Depends
12 P021 Denominator of an electronic gear * Depends
13 P022 Feed forward gain (FFWG) * Depends
14 P023 Position loop gain (G) * Depends
(4-2) How to adjust control parameters for APR control
There are only two parameters to be adjusted to get good performance under APR control mode, which are feed
forward gain (P022) and position loop gain (P023).
Other parameters shown in section [2] should also be adjusted to get overall good performance.
[5] Master Slave Control
With combination of ASR and APR
control, we can achieve master-
slave control, which means the slave
motor follows the master motor.
SJ-FB has pulse train signal output terminals (AP,
AN, BP, BN) so that he can give them to pulse train
input terminals of another SJ-FB. The output signal
is the same as motor encoder feedback signal of the
motor belonging to him.
Master inverter can be either ASR or APR mode,
however the slave inverter should be in APR mode
because the slave inverter is controlled by pulse
train input from the master.
N/D
REF (
θ
* )
N/D
FB (
θ
)
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