Table of Contents
Advertisement
CHAPTER 4 PARAMETER
PA1_61 to 67 Second gain settings
No.
61
Gain changing factor
62
Gain changing level
63
Gain changing time constant
4
64
Position loop gain 2
65
Speed loop gain 2
Speed loop integration time
66
constant 2
67
Feed forward gain 2
The gain of the servo system is switched from the first gain (PA1_55 to _58) to the second gain
(PA1_64 to _67).
Noise and vibration during stoppage can be reduced through gain switching.
Select the gain changing factor with PA1_61.
The unit of the reference value of the second gain (PA1_64 to _67) is "%." Specify the ratio to the first
gain.
[Example] If PA1_56 (speed loop gain 1) is 100 [Hz] and PA1_65 (speed loop gain 2) is 80 [%], the
second gain is 80 [Hz]. PA1_64 (position loop gain 2) is similar. If PA1_57 (speed loop
integration time constant 1) is 20 [ms] and PA1_66 (speed loop integration time constant 2)
is 50 [%], integration time constant 2 is 40 [ms].
The timing chart of each signal is shown below.
Feedback speed
Position loop gain
Speed loop gain
Speed loop
integration time
Feed forward gain
External switch
(Servo response switch)
4-32
Control Gain and Filter Setting Parameters
Name
0: Position deviation (×10)
1: Feedback speed
2: Command frequency
(position control)/command speed
(speed contorl)
3: External switch (use CONT signal)
1 to 1000 (in increments of 1)
0 [ms] to 100 [ms] (in increments of 1)
30 [%] to 200 [%] (in increments of 1)
30 [%] to 200 [%] (in increments of 1)
30 [%] to 200 [%] (in increments of 1)
30 [%] to 200 [%] (in increments of 1)
Position loop gain 1 (PA1_55)
Speed loop gain 1 (PA1_56)
Speed loop integration time constant 1 (PA1_57)
Feed forward gain 1 (PA1_58)
OFF
Setting range
Gain changing level (PA1_62)
Position loop gain 2 (PA1_64)
Speed loop gain 2 (PA1_65)
Speed loop integration time constant 2 (PA1_66)
Feed forward gain 2 (PA1_67)
Gain switching time constant (PA1_63)
ON
Default
Change
value
1
Always
50
Always
1
Always
100
Always
100
Always
100
Always
100
Always
Time
Advertisement
Table of Contents
