Omron M1 Series User Manual page 641

Set the gain for the position control of the servo lock by Servo Lock Gain (J97). The behavior of stop-
ping the inverter during a servo lock, and the axial holding force can be adjusted.
When setting smaller value to J97, the response is delayed, but the behavior becomes smoother and
the axial holding force is reduced. When setting larger value, the response becomes faster, but hunt-
ing increases and the axial holding force also increases.
Parameter No.
E01 to E05, E98,
E99
J97
J98
J99
• When the servo lock command is ON, the voltage is output to the output terminals [U], [V] and [W] of
the inverter even if the RUN command has not been turned ON.
• During a servo lock, if the position error becomes four rotations or more by motor shaft conversion,
the position control error Ero is output.
• With the servo lock function, as control is started from the 1st Stop Frequency (F25) or less, adjust
1st Stop Frequency (F25) and Gain (J97) to satisfy the following formula:
1st Stop Frequency (F25) < (4 × Gain (J97) × Maximum output frequency)
• If servo lock control is enabled, the stop frequency continuation operation and rotational direction
limitation are disabled.
7-9-20
Droop Control
If a single mechanical system is driven by multiple motors, and there is a speed difference in each of
the motors, a load unbalance occurs. Droop control is a function for ensuring load balance by provid-
ing drooping characteristics to the motor speed in response to an increase in load.
When the output torque is 100%, the output frequency is subtracted by the frequency set at Droop
Control (H28), and when the output torque is 0%, the output frequency is subtracted as a percentage
that is output according to the frequency reference in accordance with the torque actually being output
by the inverter ("Torque Value" (M07)).
The set value of Droop Control (H28) is around the rated slip frequency of the applicable motor.
To enable droop control, turn the DROOP terminal ON.
Parameter No.
H28
E01 to E05, E98,
E99
M1 Series Standard Type User's Manual (I669)
Function name
Input Terminal [DI1] to [DI7]
Function Selection
Servo Lock Gain
Servo Lock Completion Timer
Servo Lock Completion
Range
Function name
Droop Control -60.0 to 0.0
Input Terminal [DI1] to
[DI7] Function Selec- 76: DROOP (Select droop control)
tion
Data
47: LOCK (Servo lock com-
mand)
0.000 to 9.999
0.000 to 1.000
0 to 9999
Data
7 Other Functions
Default data Unit
- -
0.010 time
0.1 s
10 Pulse
Default
Unit
data
0 Hz
- -
7-149
7