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Pulse Train Input Interface 4.5 Adjustments For maximum performance for a motor, it is necessary to adjust the gain. The responsiveness of the motor is changed according to the gain setting value. The gain is regulated by adjustment of the rotary switch or PC interface. Use the waveform monitor of the PC interface etc to adjust the velocity waveform and In-Position signal. 4.5.1 Adjustment Parameters Rotary switch Select the normalized proportional gain and integral gain of the velocity loop from 16 levels shown below. SW setting Proportional Integral Gain SW setting Proportional Integral Gain value Gain value Gain 0 4 1 8 20 20 1 6 10 9 22 1 2 8 20 A 24 10 3 10 1 B 26 20 4 12 10 C 28 1 5 14 20 D 30 10 6 16 1 E 32 20 7 18 10 F 34 1 Commands for adjustmentFor adjustment parameter details, refer to Section 4.3.2 – Commands for Adjustment Command Command Function name 33(21h) S-Shape Filter Sets the time constants of S-shape filter on pulse train command. Effective for reducing shock and vibration during load operation stoppage. However, increasing the value setting will lead to reduced synchronicity with command. 47(2Fh) Gain Table Sets maximum 4 patterns of gain table. Used when switching the gain by motion in the Input Port rather than single adjustment of the gain by rotary switch. 34(22h) LPF Sets the low-pass filter of velocity feedback. 225(E1h) PPI Sets switching velocity of PPI control. Switches to PI control when actual velocity is less Control Switch than the set velocity and P control when greater than the set velocity. Effective for reducing the positioning time caused by accumulated deviations and for improving velocity change during fixed speed operation. 226(E2h) Control The PB system utilizes Close control (PI control) during operation and Open control during Switch stoppage. As switching this control method may cause vibration during acceleration or slow Condition motion operation, set the control switch frequency with this command to determine the operation profile. 437
Pulse Train Input Interface 4.5.2 Adjustment Methods a) Proportional gain of velocity loop Increase the proportional gain of velocity loop gradually as long as there is no oscillation in the motor or the load. As the gain increases, the velocity waveform changes as shown below. By increasing the proportional gain as much as possible without oscillation, high response can be achieved. Low proportional gain High proportional gain Increasing the proportional gain may increase the noise of the motor. b) Integral gain of velocity loop As this is the delay factor for the servo system, a high setting will adversely affect responsiveness. A low setting may render the servo system unstable. Select an appropriate value after checking the vibration and oscillation status of the machine system. If the response before positioning is slow due to gravity load and single load, adjust by increasing the integral gain of velocity loop. c) Proportional gain of position loop Increasing the proportional gain of position loop will quicken response and shorten positioning time. However, oscillation may occur if the rigidity of the machine system is low. Adjust in the range that is free of load oscillation. Adjustment by operation profile If overshooting during acceleration or undershooting during stoppage is not solved by gain adjustment, this may be due to torque shortage. Check motor size, load conditions or operation profile (moderate acceleration / deceleration rate). eControl switch frequency setting Sets the switching frequency of Open / Close control by Command E2h. Especially during slow motion operation, setting the switching frequency above the operation frequency and operating with Open control may reduce oscillation. Control switch frequencysetting value × 2000PPS During slow move operationCommand frequency(PPS) Normal operationUse at Start frequency+2000(PPS) Command frequency +2000 438
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M0007846 SANMOTION CLOSED LOOP STEP
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Contents 1. Safety Pre
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