Table of Contents
Advertisement
■[Pr. PB08 Position control gain]
As a guide, this servo parameter can be calculated with the following formula.
Position control gain guideline =
(1 + Load to motor inertia ratio)
■[Pr. PB09 Speed control gain]
The actual response frequency of the speed loop can be calculated with the following formula.
Speed loop response frequency [Hz] =
When adjusting [Pr. PB09 Speed control gain], increase the value gradually. Increasing the setting value causes vibration and
resonance. At this time, check the value of [Pr. PB09 Speed control gain]. 70 % to 80 % of the value at which vibration and
resonance occurred should be set as the limit value of [Pr. PB09 Speed control gain] in consideration of such as variations
and margins between devices.
■[Pr. PB10 Speed integral compensation]
As a guide, this servo parameter can be calculated with the following formula.
Speed integral compensation setting value [ms]
2000 to 3000
≥
Speed control gain/(1 + Load to motor inertia ratio)
If the setting value is less than the calculated value, vibration may occur. If the droop pulses vibrate during a stop, increasing
the value in [Pr. PB10 Speed integral compensation] is effective.
3.8
Load to motor inertia ratio monitor mode
The servo amplifier has a function which estimates the machine characteristic (load to motor inertia ratio) in real time. This
mode does not change the set gains, but estimates the load to motor inertia ratio.
Precautions on load to motor inertia ratio monitor mode
• Only estimation of the load to motor inertia ratio is executed by this mode. Therefore, the estimated load to motor inertia
ratio is not used in controlling by the servo amplifier, and the responsiveness decreases in comparison with the same
setting in the manual mode.
Adjustment procedure of load to motor inertia ratio monitor mode
• This mode enables manual adjustment by all the gains. However, use the gains adjusted by quick tuning as a standard.
Refer to the adjustment procedure of the manual mode when adjusting the gains with this mode.
Page 48 Adjustment procedure
Operation of load to motor inertia ratio monitor mode
• The operation of the load to motor inertia ratio estimation by this mode is the same as that of the auto tuning mode 1.
The servo parameter that is automatically adjusted in this mode is shown in the table below.
Servo parameter
Symbol
PB06
GD2
Speed control gain
1
×
to
4
Speed control gain
(1 + Load to motor inertia ratio) × 2π
Name
Load to motor inertia ratio/load to motor mass ratio
1
8
3.8 Load to motor inertia ratio monitor mode
3 ADJUSTMENT METHOD
3
49
Advertisement
Table of Contents
