Sanyo SUPER BL P5 Manual page 156

7. EXPLANATION OF PARAMETERS
Abbre-
Mode Page
viation
8 0 Kp2
1 Kvp2
2 Tvi2
3 Tn_F
4 O_JL
If 1000 msec is specified, the proportional control is turned on.
Values in parentheses apply to motors not belonging to the P3 or P5 series.
Name and description
Position loop gain 2
• Proportional gain of the position controller.
• Enabled during gain switching.
Velocity loop proportional gain 2
• Proportional gain of the velocity controller
(proportional integral controller).
Setting unit represents the value when the
load inertial is 0.
• Enabled during gain switching.
Velocity loop integral time constant 2
• Integral time constant of the velocity controller
(proportional integral controller).
Velocity
1
deviation
∫
Kvp(1+
Tvi
• Enabled during gain switching.
User setting value of current command when
automatic notch filter tuning:
• User setting value of current command when
executing automatic notch filter tuning at test
mode. Selecting Ic=Ist on Tune IBEF setting
screen enables automatic notch tuning
execution at current command of user setting
value (Tn_F).
Observer・load inertia ratio
• Parameter to estimate load torque used for
real time automatic tuning processor.
• Setting the value of "load inertia /
motor inertia ×100".
Refer to chapter 11 for detail.
Standard
value
45 (30)
100 (70)
15
(20)
Velocity
loop output
dt)
100
100
7－61
Setting
Remark Mode
range
s
rad/S 1 to Position control
1000
Hz 10 to Position/
3000 Velocity control
mSec 1 to Position/
1000 Velocity control
(
% 30 to
(IP/IR)
×100
% 0 to
3000
)