SMC Networks LECSN-T Series User Manual

7. SPECIAL ADJUSTMENT FUNCTIONS
7 - 20
(b) Switching timing chart
After-sw itching gain
63.4%
CDT = 100 ms
Before-sw itching gain
Gain switching
Control command
from controller
OFF
ON
OFF
Model loop gain
100
→
50
→
100
Load to motor inertia ratio/load to motor
mass ratio
4.00
→
10.00
→
4.00
Position loop gain
120
→
84
→
120
Speed loop gain
3000
→
4000
→
3000
Speed integral compensation
20
→
50
→
20
Vibration suppression control 1 -
Vibration frequency
50
→
60
→
50
Vibration suppression control 1 -
Resonance frequency
50
→
60
→
50
Vibration suppression control 1 -
Vibration frequency damping
0.20
→
0.15
→
0.20
Vibration suppression control 1 -
Resonance frequency damping
0.20
→
0.15
→
0.20
Vibration suppression control 2 -
Vibration frequency
20
→
30
→
20
Vibration suppression control 2 -
Resonance frequency
20
→
30
→
20
Vibration suppression control 2 -
Vibration frequency damping
0.10
→
0.05
→
0.10
Vibration suppression control 2 -
Resonance frequency damping
0.10
→
0.05
→
0.10
(2) When you choose switching by droop pulses
The vibration suppression control after gain switching and model loop gain after gain switching
cannot be used.
(a) Setting
Parameter
Symbol
Name
Setting value
Unit
PB06
GD2
Load to motor inertia ratio/load to
motor mass ratio
4.00
[Multiplier]
PB08
PG2
Position loop gain
120
[rad/s]
PB09
VG2
Speed loop gain
3000
[rad/s]
PB10
VIC
Speed integral compensation
20
[ms]
PB29
GD2B
Load to motor inertia ratio/load to
motor mass ratio after gain
switching
10.00
[Multiplier]
PB30
PG2B
Position loop gain after gain
switching
84
[rad/s]
PB31
VG2B
Speed loop gain after gain
switching
4000
[rad/s]
PB32
VICB
Speed integral compensation after
gain switching
50
[ms]
PB26
CDP
Gain switching selection
0003
(switching by droop pulses)
PB27
CDL
Gain switching condition
50
[pulse]
PB28
CDT
Gain switching time constant
100
[ms]
PC or PLC…etc

SMC Networks LECSN-T Series Specifications

General

Brand	SMC Networks
Model	LECSN-T Series
Category	Controller
Language	English