Sharp CP-SR421 Manuale Utente Scaricare il pdf (Pagina 123)

5. PARAMETERS

5 - 26

No. Symbol Name and function

Initial

value

(unit)

Setting

range

PB26



CDP

Gain switching function

Select the gain switching condition.

Set conditions to enable the gain switching values set in [Pr. PB29] to [Pr. PB36] and [Pr.

PB56] to [Pr. PB60].

Refer to Name

and function

column.

Setting

digit

Explanation

Initial

value

_ _ _ x Gain switching selection

0: Disabled

1: Control command from controller is enabled

2: Command frequency

3: Droop pulses

4: Servo motor speed/linear servo motor speed

_ _ x _ Gain switching condition selection

0: Gain after switching is enabled with gain switching condition or

1: Gain after switching is enabled with gain switching condition or

less

_ x _ _ For manufacturer setting 0h

x _ _ _ 0h

PB27 CDL Gain switching condition

This is used to set the value of gain switching (command frequency, droop pulses, and servo

motor speed/linear servo motor speed) selected in [Pr. PB26].

The set value unit differs depending on the switching condition item. (Refer to section 7.2.3)

The unit "r/min" will be "mm/s" for linear servo motors.

[kpps]/

[pulse]/

[r/min]

0 to

65535

PB28 CDT Gain switching time constant

This is used to set the time constant at which the gains will change in response to the

conditions set in [Pr. PB26] and [Pr. PB27].

[ms]

0 to

100

PB29 GD2B Load to motor inertia ratio/load to motor mass ratio after gain switching

This is used to set the load to motor inertia ratio/load to motor mass ratio when gain switching

is enabled.

This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment

mode selection" in [Pr. PA08].

7.00

Multiplier

(×1)

0.00 to

300.00

PB30 PG2B Position loop gain after gain switching

Set the position loop gain when the gain switching is enabled.

When you set a value less than 1.0 rad/s, the value will be the same as [Pr. PB08].

This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment

mode selection" in [Pr. PA08].

0.0

[rad/s]

0.0 to

2000.0

PB31 VG2B Speed loop gain after gain switching

Set the speed loop gain when the gain switching is enabled.

When you set a value less than 20 rad/s, the value will be the same as [Pr. PB09].

This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment

mode selection" in [Pr. PA08].

[rad/s]

0 to

65535

PB32 VICB Speed integral compensation after gain switching

Set the speed integral compensation when the gain changing is valid.

When you set a value less than 0.1 ms, the value will be the same as [Pr. PB10].

This parameter is enabled only when you select "Manual mode (_ _ _ 3)" of "Gain adjustment

mode selection" in [Pr. PA08].

0.0

[ms]

0.0 to

5000.0

1 2 ... 118 119 120 121 122 123 124 125 126 127 128 ... 403 404

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Sharp CP-SR421 Manuale Utente Pagina 123

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