Sanyo SUPER BL P5 Manual page 151

7. EXPLANATION OF PARAMETERS
Abbre-
Mode Page
viation
3 0 Kp
1 Kvp
2 Tvi
3 Vzero Velocity command zero adjustment
4 Tzero Torque command zero adjustment
5 Tn_Lv Real time automatic tuning level
1 It can also be specified from Mode 0 Page 0.
2 It can also be specified from Mode 0 Page 2.
3 It can also be set from Mode 0 Page 3.
4 If you specify 1000 msec, proportional control is selected.
5 The value varies according to the adjustment done at shipment.
You can change the setting by executing offset adjustment of the test mode
(Pages 2 and 3).
When changing the value, store your setting in the non-volatile memory using either
the
If turning off the control power without this key operation, the setting will not be stored.
* The 1 and 0 keys increase and decrease a value, respectively.
1
* After changing a value, press either the
* Values in parentheses apply to motors not belonging to the P3 or P5 series.
Name and description
Position loop gain
• Proportional gain of the position controller.
Velocity loop proportional gain
• Proportional gain of the velocity controller
(proportional integral controller).
Setting unit represents the value when the
load inertia is 0.
Velocity loop integral time constant
• Integral time constant of the velocity controller
(proportional integral controller).
Velocity
deviation
∫
Kvp(1+
Tvi
(offset adjustment)
• Offset of the velocity command is adjusted.
(offset adjustment)
• Offset of the torque command is adjusted.
• Setting real time automatic tuning level.
For higher set value, estimated proper
gain become higher.
, , or
0
Standard
45 (30)
100 (70)
15 (20)
Velocity
1
loop output
dt)
key.
, ,
7－56
Setting
Unit
value range
rad/S 1 to
1000
Hz 10 to
3000
mSec 1 to
1000
$$$$
±16383
$$$$ ±16383
±5
0
or key to store it.
Remarks
( 1)
( 2)
( 3)
( 4)
( 5)
( 5)