8 - 9
8. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No. Abbreviation Name Setting Unit
6 PG1 Position control gain 1 100 rad/s
36 VG1 Speed control gain 1 1000 rad/s
34 GD2
Ratio of load inertia moment to
servo motor inertia moment
40
Multiplier
(
10
1
)
35 PG2 Position control gain 2 120 rad/s
37 VG2 Speed control gain 2 3000 rad/s
38 VIC Speed integral compensation 20 ms
61 GD2B
Ratio of load inertia moment to
servo motor inertia moment 2
100
Multiplier
(
10
1
)
62 PG2B
Position control gain 2 changing
ratio
70
63 VG2B
Speed control gain 2 changing
ratio
133
64 VICB
Speed integral compensation
changing ratio
250
65 CDP Gain changing selection
0003
(Changed by droop pulses)
66 CDS Gain changing condition 50 pulse
67 CDT Gain changing time constant 100 ms
(b) Changing operation
CDT 100ms
0
Droop pulses [pulses]
Change of each gain
CDS
CDS
Before-changing gain
After-changing gain
Command pulse
Droop pulses
Position control gain 1 100
Speed control gain 1 1000
Ratio of load inertia moment
to servo motor inertia moment
4.0
10.0 4.0 10.0
Position control gain 2 120 84 120 84
Speed control gain 2 3000 4000 3000 4000
Speed integral compensation 20 50 20 50
To Next Page
Loading...
