Nidec Control Techniques Digitax-SF Series User Manual

7
7
１. Introduction
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Control Block Diagram
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2. Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2. Position Control Mode
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.
Quick Tuning on Digitax SF Connect� � � � � � � � � � � � � � � � � � � � � � � � �9
Final Tuning: Position Control Mode � � � � � � � � � � � � � � � � � � � � � � � �12
Quick Tuning on Setup Panel � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �14
Velocity Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Auto Tuning on Digitax SF Connect � � � � � � � � � � � � � � � � � � � � � � � � � � �17
Final Tuning: Velocity Control Mode � � � � � � � � � � � � � � � � � � � � � � � �20
Auto Tuning on Setup Panel � � � � � � � � � � � � � � � � � � � � � � � � � � � . . � � � � �22
3. Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1. Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Inertia Condition
� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �26
Control Gain Set
� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �27
Mode Switch
� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �28
Tuning Items
� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �28
2. Final Tuning
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Inertia Ratio
� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �29
Position Control Mode: Control Gain 1
� � � � � � � � � � � � � � � � � � � � � � �30
Position Control Mode: Control Gain 2
� � � � � � � � � � � � � � � � � � � � � � �31
Velocity Control Mode: Control Gain 1
� � � � � � � � � � � � � � � � � � � � � �32
Position Control Mode: Gain FF Compensation 1
� � � � � � � � � � � � � �33
Position Control Mode: Gain FF Compensation 2
� � � � � � � � � � � � � �34
Integral Gain
� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �35
3. Position Command Filter
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Position Command Smoothing Filters 1 and 2
� � � � � � � � � � � � � � � � �38
Position Command Notch Filter
� � � � � � � � � � � � � � � � � � � � � � � � � � � � �39
Position Command γ-Notch Filter
� � � � � � � � � � � � � � � � � � � � � � � � � � �40
4. Torque Command Filter
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Torque Command Filter: Notch Filter
� � � � � � � � � � � � � � � � � � � � � � � �42
Torque Command Low-Pass Filter
� � � � � � � � � � � � � � � � � � � � � � � � � � �43
4. Using Digitax SF Connect to Measure Vibration Frequency
(FFT). .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Tuning

Nidec Control Techniques Digitax-SF Series Specifications

General

Brand	Nidec
Model	Control Techniques Digitax-SF Series
Category	Servo Drives
Language	English