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(4-1) Example of the parameter settings
Main parameters to be set for APR control.
No.
Code
1
A044
Control method
2
P011
ppr of the encoder
3
P012
Control mode
4
P013
Mode of the pulse train input
5
P014
Stop position while orientation
6
P015
Speed while orientation
7
P016
Direction of orientation
8
P017
Orientation completion range
9
P018
Delay time for orientation completion
10
P019
Position of an electronic gear
11
P020
Numerator of an electronic gear
12
P021
Denominator of an electronic gear
13
P022
Feed forward gain (FFWG)
14
P023
Position loop gain (G)
(4-2) How to adjust control parameters for APR control
There are only two parameters to be adjusted to get good performance under APR control mode, which are feed
forward gain (P022) and position loop gain (P023).
REF ( * )
[P019]=01
[P019]=00
Other parameters shown in section [2] should also be adjusted to get overall good performance.
[5] Master Slave Control
With combination of ASR and APR
control, we can achieve master-
slave control, which means the slave
motor follows the master motor.
SJ-FB has pulse train signal output terminals (AP,
AN, BP, BN) so that he can give them to pulse train
input terminals of another SJ-FB. The output signal
is the same as motor encoder feedback signal of the
motor belonging to him.
Master inverter can be either ASR or APR mode,
however the slave inverter should be in APR mode
because the slave inverter is controlled by pulse
train input from the master.
© 2002 Hitachi America, Ltd.
Contents
Gf (P022) : Simply forwarding the REF value with multiplying a gain (Gf).
Gf (P022)
(Feed forward gain)
G (P023)
+
N/D
(Position loop gain)
-
N/D
G (P023) : Multiplies a gain G with the deviation
FB ( )
Fig 9. Block diagram of position control loop
Speed command
Ø Digital setting
Ø Analog input
Set value
05
Closed loop control mode
*
Depends on an encoder
01
APR mode
*
Depends on an encoder. See manual
of SJ-FB the mode.
-
-
No need to set since this is not
-
positioning.
-
-
*
Depends
*
Depends
*
Depends
*
Depends
*
Depends
(Nothing to do with the actual system situation (FB).)
+
+
To APR control block
(Deeply related to actual system situation (FB).)
Master
SJ300
SJ-FB
AP, AN
BP, BN
EG5
EAP, EAN
EBP, EBN
Encoder
(Line driver type)
M
M
Termination resistor
Rt = OFF
Fig 10. Idea of Master-Slave control
18
Remarks
and forward.
slave
SJ300
SJ-FB
SAP,
SAN
SBP,
SBN
EG5
EAP, EAN
EBP, EBN
Ms
Rt = ON
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