Sharp CP-SR421 Manuale Utente Scaricare il pdf (Pagina 159)

6. NORMAL GAIN ADJUSTMENT

6 - 14

1) [Pr. PB09 Speed loop gain]

This parameter determines the response level of the speed control loop. Increasing this value

enhances response but a too high value will make the mechanical system liable to vibrate. The

actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response frequency [Hz] =

(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ) × 2Ǹ

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯

2) [Pr. PB10 Speed integral compensation]

To eliminate stationary deviation against a command, the speed control loop is under proportional

integral control. For the speed integral compensation, set the time constant of this integral

control. Increasing the setting lowers the response level. However, if the load to motor inertia

ratio is large or the mechanical system has any vibratory element, the mechanical system is liable

to vibrate unless the setting is increased to some degree. The guideline is as indicated in the

following expression.

Speed integral compensation setting [ms]

2000㨪3000

ㅦᐲ೙ᓮࠥࠗࡦ⸳ቯ୯/(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ⸳ቯ୯)

3) [Pr. PB07 Model loop gain]

This parameter determines the response level to a speed command. Increasing the value

improves track ability to a speed command, but a too high value will make overshoot liable to

occur at settling.

Model loop gain guideline 

(1 + ࠨ࡯ࡏࡕ࡯࠲ߦኻߔࠆ

⽶⩄ᘠᕈࡕ࡯ࡔࡦ࠻Ყ

)

ㅦᐲ೙ᓮࠥࠗࡦ

⸳ቯ୯

㨪

(2) For position control

(a) Parameter

The following parameters are used for gain adjustment.

Parameter Symbol Name

PB06 GD2 Load to motor inertia ratio/load to motor mass ratio

PB07 PG1 Model loop gain

PB08 PG2 Position loop gain

PB09 VG2 Speed loop gain

PB10 VIC Speed integral compensation

Speed loop gain setting

(1 + Load to motor inertia ratio) × 2Ƈ

Speed loop gain setting/(1 + Load to motor inertia ratio setting)

Speed loop gain setting

(1 + Load to motor inertia ratio) × 2Ƈ

1 2 ... 154 155 156 157 158 159 160 161 162 163 164 ... 403 404

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Sharp CP-SR421 Manuale Utente Pagina 159

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