Encoder Orientation Constants - YASKAWA VS-626M5 Instruction Manual

Control Constants

10.2 Encoder Orientation Constants

Con-
stant
No.
Load Shaft Position-
ing Origin ing Origin
C2-01 C2 01
P
ORG
Position Control
Proportional Gain p
C2 02 C2-02
(H) (H)
K
PH
Position Control
Proportional Gain Proportional Gain
C2-03 C2 03
(M)
K
PM
Position Control
Proportional Gain p
C2 04 C2-04
(L) (L)
K
PL
Speed Control Pro-
portional Gain (H) p
C2 05 C2-05
K K
VHO
Speed Control Inte-
gral Time Constant g
C2-06 C2 06
(H) (H)
τ
VHO
Speed Control Pro-
portional Gain (M, p
C2 07 C2-07
L) L)
K
VLO
Speed Control Inte-
gral Time Constant g
C2-08 C2 08
(M L) (M, L)
τ
VLO
Positioning Comple-
tion Detection Width tion Detection Width
C2-09 C2 09
Z
FIN
Positioning Comple-
tion Cancel Width tion Cancel Width
C2-10 C2 10
Z
CAN
Orientation Speed
C2 11 C2-11 S S
ORT
BCD Stop Position
10
Reference Resolu Reference Resolu-
C2-12 C2 12
tion P
BCD
Virtual Stop
Position Offset Position Offset
C2-13 C2 13
P
IMG
Orientation Speed
Changing Ratio Changing Ratio
C2 14 C2-14
R
SOR
Starting Soft Start
Time Time
C2 15 C2-15
T
SFO
The encoder orientation constants are listed in the following table.
Table 10.2 Encoder Orientation Constants
Name
Mechanical origin of the load shaft. Set difference from encoder ori-
gin signal (phase C) pulses. gin signal (phase C) pulses
Position control proportional gain when high-speed gear is selected
( (i.e., MGR and LGR are OFF) or when high-speed winding is se- ,
lected (i.e., CHW is OFF). Increasing K l d (i CHW i OFF) I
Speed reference (pps) = K
Position control proportional gain when medium-speed gear is se-
lected (i.e., MGR is ON). Increasing K lected (i.e., MGR is ON). Increasing K
Speed reference (pps) = K
Position control proportional gain when low-speed gear is selected
( (i.e., LGR is ON) or when low-speed winding is selected (i.e., CHW , )
i ON) I is ON). Increasing K i
Speed reference (pps) = K
Speed control proportional gain when high-speed gear is selected
( ) (i.e., MGR and LGR are OFF) or when high-speed winding is se- ( ,
l lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON). d (i CHW i OFF) i
Torque reference P = K
Speed control integral time constant when high-speed gear is selected
(i.e., MGR and LGR are OFF) or when high-speed winding is se- ( ,
l lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON). d (i CHW i OFF) i
Torque reference I = Torque reference P × Time/τ
Speed control proportional gain when low-speed gear is selected (i.e.,
( , MGR or LGR is ON) or when high-speed winding is selected (i.e.,
CHW is ON) in orientation control (i.e., ORT is ON). CHW i ON) i i
Torque reference P = K
Speed control integral time constant when low-speed gear is selected
(i.e., MGR or LGR is ON) or when low-speed winding is selected ( ,
(i.e., CHW is ON) in orientation control (i.e., ORT is ON). (i CHW i ON) i
Torque reference I = Torque reference P × Time/τ
Detection width for outputting completion signal when the load shaft
approaches the stop reference position. Detection width is stop refer- approaches the stop reference position Detection width is stop refer
ence position ±Z
FIN.
Set value for canceling completion signal when the load shaft is
moved after completion signal is output Cancel width is stop refer moved after completion signal is output. Cancel width is stop refer-
ence position ±Z
CAN.
Speed applied (after detecting encoder origin) until changing to the
servo loop during orientation servo loop during orientation.
Angle set value per minimum increment of stop position BCD com-
mand. mand
Stop position offset for smoothing stop operation when the servo loop
is used When Z is used. When Z
FIN FIN
Speed changing ratio for gradually reducing orientation speed to
reduce gear noise when switching from orientation speed to servo reduce gear noise when switching from orientation speed to servo
loop speed.
Soft start time for accelerating from at rest state to orientation speed.
Use this parameter to reduce gear noise at starting Acceleration rate Use this parameter to reduce gear noise at starting. Acceleration rate
−1
is (500 min )/sec.
Explanation
) g p
i K i increases rigidity. i idi
PH
× Position tolerance (pulses)
PH
increases rigidity. increases rigidity.
PM PM
× Position tolerance (pulses)
PM
p g
K increases rigidity. i i idi
PL
× Position tolerance (pulses)
PL
) g p
i i l (i ORT i ON)
× Speed tolerance
VHO
) g p
i i l (i ORT i ON)
) g p g
i l (i ORT i ON)
× Speed tolerance
VLO
) p g
i i l (i ORT i ON)
is reached, offset becomes 0. is reached offset becomes 0
10-8
Change Unit
* 1
Yes Yes Pulse Pulse
g
Yes Yes 1/s 1/s
Yes Yes 1/s 1/s
( ,
Yes Yes 1/s 1/s
g
Yes Yes %/Hz %/Hz
g
Yes Yes ms ms
VHO
( ,
Yes Yes %/Hz %/Hz
Yes Yes ms ms
VLO
No No Pulse Pulse
No No Pulse Pulse
−1 −1
No No min min
No No Deg. Deg
No No Pulse Pulse
No No ---
No No ms ms
Standard Upper
Setting Limit/
Lower
Limit
4095
0 0
0
99
15 15
1
99
15 15
1
99
15 15
1
255
40 40
1
1000
100 100
5
255
40 40
1
1000
100 100
5
200
5 5
0
200
10 10
Z
FIN
600
400 400
40
180.0
1 0 1.0
0.5
100
0 0
0
100
0 0
0
50
0 0
0