Magnetic Sensor Orientation Constants - YASKAWA VS-626M5 Instruction Manual

10.3 Magnetic Sensor Orientation Constants

The magnetic sensor orientation constants are listed in the following table.
Table 10.3
Con- Name
stant
No.
Load Shaft Position- Mechanical origin of the load shaft. Set difference from magnetic
ing Origin ing Origin sensor signal in degrees. sensor signal in degrees
C3-01 C3 01
P
ORG
Position Control Pro- Position control proportional gain when high-speed gear is selected
portional Gain (H) (i.e., MGR and LGR are OFF) or when high-speed winding is se-
lected (i.e., CHW is OFF). lected (i.e., CHW is OFF).
K K
C3 02 C3-02
PH PH
Increasing K
Position Control Pro- Position control proportional gain when medium-speed gear is se-
portional Gain (M) p ( ) lected (i.e., MGR is ON). Increasing K
C3 03 C3-03
K
PM
(pulses)
Position Control Pro- Position control proportional gain when low-speed gear is selected
portional Gain (L) (i.e., LGR is ON) or when low-speed winding is selected (i.e., CHW
is ON). is ON).
C3 04 C3-04 K K
PL PL
Increasing K
Speed Control Pro- Speed control proportional gain when high-speed gear is selected
p portional Gain (H) ( ) (i.e., MGR and LGR are OFF) or when high-speed winding is se- (
C3-05 C3 05
l lected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
K
VHO
Speed Control Inte- Speed control integral time constant when high-speed gear is se-
gral Time Constant g lected (i.e., MGR and LGR are OFF) or when high-speed winding is
C3 06 C3-06
(H) (H) selected (i.e., CHW is OFF) in orientation control (i.e., ORT is ON).
τ
VHO
Speed Control Pro- Speed control proportional gain when low-speed gear is selected
portional Gain (M, L) p ( , ) (i.e., MGR or LGR is ON) or when low-speed winding is selected (
C3 07 C3-07
(i.e., CHW is ON) in orientation control (i.e., ORT is ON). (i
K
VLO
Speed Control Inte- Speed control integral time constant when low-speed gear is selected
g gral Time Constant ( (i.e., MGR or LGR is ON) or when low-speed winding is selected
C3-08 C3 08
(M, L) (M L) (i (i.e., CHW is ON) in orientation control (i.e., ORT is ON).
τ
VLO
Positioning Comple- Detection width for outputting completion signal when the load shaft
tion Detection Width tion Detection Width approaches the stop reference position. approaches the stop reference position
C3 09 C3-09
Detection width is stop reference position ±Z
Z
FIN
Positioning Comple- Set value for canceling completion signal when the load shaft is
tion Cancel Width tion Cancel Width moved after completion signal is output. moved after completion signal is output
C3-10 C3 10
Cancel width at stop reference position ±Z
Z
CAN
Orientation Speed p Speed applied (after detecting magnetic sensor signal) until changing
C3 11 C3-11
to the servo loop during orientation. t th
S
ORT
BCD Stop Position Completion signal cancel angle per minimum increment for deter-
Reference Resolution Reference Resolution mining stop position for incremental positioning with BCD com- mining stop position for incremental positioning with BCD com-
C3 12 C3-12
mand after stopping at home position.
P
BCD
Virtual Stop Position Stop position offset for smoothing stop operation when the servo
Offset Offset loop is used loop is used.
C3-13 C3 13
When Z
P
IMG
Orientation Speed Speed changing ratio for gradually reducing orientation speed to
Changing Ratio Changing Ratio reduce gear noise when switching from orientation speed to servo reduce gear noise when switching from orientation speed to servo
C3 14 C3-14
loop speed.
Magnetic Sensor Orientation Constants
Explanation
increases rigidity.
PH
Speed reference (pps) = K
( , ) g
Speed reference (pps) = K
increases rigidity.
PL
Speed reference (pps) = K
, )
d (i CHW i OFF) i i
Torque reference P = K
VHO
( , )
l d (i CHW i OFF) i i
Torque reference I = Torque reference P × Time /τ
, )
CHW i ON) i i i
Torque reference P = K
VLO
, )
CHW i ON) i i i
Torque reference I = Torque reference P × Time /τ
p pp ( g g
l d i i t ti
is reached, offset becomes 0.
FIN
10-11
10.3 Magnetic Sensor Orientation Constants
× Position tolerance (pulses)
PH
increases rigidity. g y
PM PM
× Position tolerance
PM
× Position tolerance (pulses)
PL
g p g
i l (i ORT i ON)
× Speed tolerance
g p g
i l (i ORT i ON)
VHO
p g
l (i ORT i ON)
× Speed tolerance
p g
l (i ORT i ON)
VLO
FIN.
CAN.
g ) g g
Change Unit Standard Upper
* 1
Setting Limit/
Lower
Limit
2.00
Yes Yes Deg Deg. 0 00 0.00
−2.00
Yes Yes 1/sec 1/sec 15 15
Yes Yes 1/sec 1/sec 15 15
Yes Yes 1/sec 1/sec 15 15
Yes Yes %/Hz %/Hz 40 40
1000
Yes Yes ms ms 100 100
Yes Yes %/Hz %/Hz 40 40
1000
Yes Yes ms ms 100 100
20.0
No No Deg Deg. 0.5 0 5
20.0
No No Deg Deg. 1.0 1 0
Z
−1 −1
No No min min 400 400
180.0
No No Deg Deg. 1 0 1.0
10.0
No No Deg. Deg 0 0 0.0
No No --- 0 0
99
1
99
1
99
1
255
1
5
255
1
5
0.0
FIN
600
40
10
0.5
0
100
0