5-26
Basic gain parameter setup table
Stiffness
1st gain/2nd gain
Adjustment
filter
load variation
suppression
function
For load variation support mode (Pr0.02 = 6) only
Pr1.00
Pr1.05
Pr1.01
Pr1.06
Pr1.02
Pr1.07
Pr1.04
Pr1.09
Pr6.48
*
1
Pr6.24
Pr1.00
Pr1.05
Pr6.24 Pr6.74 Pr6.75
Position
loop
[0.1 /s]
Velocity
loop
[0.1 Hz]
Velocity
loop
integration
[0.1 ms]
Torque
[0.01 ms]
Time
constant
[0.1 ms]
Load
fiuctuation
compensation
filter
[0.01 ms]
Position
loop
[0.1 /s]
Load
fiuctuation
compensation
filter
[0.01 ms]
Torque
compensation
ferquecy1
[0.1 Hz]
Torque
compensation
ferquecy2
[0.1 Hz]
0 20 15 3700 1500 155 2500 15 2500 25 7
1 25 20 2800 1100 115 2500 20 2500 34 10
2 30 25 2200 900 94 2500 25 2500 42 12
3 40 30 1900 800 84 2500 30 2500 51 15
4 45 35 1600 600 64 2500 35 2500 59 17
5 55 45 1200 500 54 2500 45 2500 76 22
6 75 60 900 400 44 2500 60 2500 104 30
7 95 75 700 300 34 2120 75 2120 129 37
8 115 90 600 300 34 1770 90 1770 153 44
9 140 110 500 200 24 1450 110 1450 184 53
10 175 140 400 200 23 1140 140 1140 231 66
11 320 180 310 126 16 880 180 880 290 83
12 390 220 250 103 13 720 220 720 346 99
13 480 270 210 84 11 590 270 590 413 118
14 630 350 160 65 9 450 350 450 512 146
15 720 400 140 57 8 400 400 400 570 163
16 900 500 120 45 7 320 500 320 678 194
17 1080 600 110 38 6 270 600 270 678 194
18 1350 750 90 30 5 210 750 210 678 194
19 1620 900 80 25 5 180 900 180 678 194
20 2060 1150 70 20 4 140 1150 140 678 194
21 2510 1400 60 16 4 110 1400 110 678 194
22 3050 1700 50 13 3 90 1700 90 678 194
23 3770 2100 40 11 3 80 2100 80 678 194
24 4490 2500 40 9 3 60 2500 60 678 194
25 5000 2800 35 8 2 60 2800 60 678 194
26 5600 3100 30 7 2 50 3100 50 678 194
27 6100 3400 30 7 2 50 3400 50 678 194
28 6600 3700 25 6 2 40 3700 40 678 194
29 7200 4000 25 6 2 40 4000 40 678 194
30 8100 4500 20 5 2 40
4500 40 678 194
31 9000 5000 20 5 2 40 5000 40 678 194
*
1 The value of Pr6.48 Adjustment lter has additional value 1 for B to F frames.
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Synchronous type
Note
•
For details of parameters, refer to P.4-16 “Details of parameter”.
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
To Next Page
Loading...
