SJ700-2 Instruction Manual NT204DX - Hitachi America, Ltd.
SJ700-2 Instruction Manual NT204DX - Hitachi America, Ltd. SJ700-2 Instruction Manual NT204DX - Hitachi America, Ltd.
Chapter 4 Explanation of Functions 4.3.7 Electronic gear function The electronic gear function allows you to set a gain on the position command or position feedback data to adjust the ratio between the main motor and sub-motor speeds during the synchronous operation of the motors. Related code P019: Electronic gear set position selection P020: Electronic gear ratio numerator setting P021: Electronic gear ratio denominator setting P022: Feed-forward gain setting P023: Position loop gain setting Item Function code Data or range of data Description Electronic gear set position 00 Position feedback (FB) side P019 selection 01 Position command (REF) side Electronic gear ratio numerator setting (Note 4) P020 1 to 9999 Electronic gear ratio denominator setting (Note 4) P021 1 to 9999 Feed-forward gain setting (Note 2) P022 0.00 to 655.3 Position loop gain setting (Note 3) P023 0.00 to 99.99 or 100.0 (rad/s) Note 1: Block diagrams for the electronic gear function are shown below. P019 = 00 (FB) Position command First order lag filter 1 1+ST Feed-forward gain P022 Position loop gain P023 Speed command N D Electronic gear Position-control feedback P019 = 01 (REF) Position command First order lag filter 1 Electronic gear 1+ST N D Feed-forward gain P022 Position loop gain P023 Speed command Position-control feedback Note 2: You are recommended to set the feed-forward gain setting (P022) to 2.00 first when adjusting the feed-forward gain. To reduce the position deviation between the main motor and sub-motor, increase the feed-forward gain. If the motor operation is unstable, reduce the feed-forward gain. Note 3: You are recommended to set the position loop gain (P023) to 2.00 first when adjusting the loop gain. To increase the positioning accuracy and position-holding force, increase the loop gain. If a high loop gain results in unstable motor operation, reduce the loop gain. Note 4: The electronic gear ratio (N/D) must be within the following range: 1/50 ≤ N/D ≤ 20 N: Electronic gear ratio numerator (P020) D: Electronic gear ratio denominator (P021) 4 - 102
Chapter 4 Explanation of Functions Master inverter Slave inverter AP,BP AN,BN EG5 EAP,EBP EAN,EBN SAP,SBP SAN,SBN EG5 EAP,EBP EAN,EBN Main motor M Sub-motor M EC EC On the inverter (master inverter) for the main motor, specify either the speed control (ASR:P012=00) or pulse train position control mode (APR:P012=01). On the inverter (slave inverter) for the sub-motor, specify the pulse train position control mode (APR:P012=01). And set the frequency source setting(A001) selection to the pulse row input”06”. Please set the pulse train position command input enable signal(STAT) to an unused input terminal. Afterwards, put the intelligent input terminal into the state of turning on. - Main motor: Encoder pulse-per-revolution (PPR) setting = 1024 (pulses) - Sub-motor: Encoder pulse-per-revolution (PPR) setting = 3000 (pulses) - Ratio of main motor speed to sub-motor speed: 2:1 To operate the motors under the above conditions, adjust the parameters on the slave inverter as follows: Pulse train mode setting (P013): 00 (90º-phase-shift pulse train) Electronic gear set position selection (P019): 01 (REF) Electronic gear ratio numerator setting (P020): 3000 Electronic gear ratio denominator setting (P021): 1024 x 2 = 2048 The table below lists the examples of the ratio of main motor speed to sub-motor speed according to the settings of "P019" to "P021" (on the assumption that the encoder pulse-per-revolution (PPR) setting of "1024" should be set on both inverters). Electronic gear set position selection (P019) REF (Position command side) REF (Position command side) 4 - 103 FB (Position feedback side) FB (Position feedback side) Electronic gear ratio numerator setting (P020) 1024 2048 1024 2048 Electronic gear ratio denominator setting (P021) 2048 1024 2048 1024 Sub-motor speed/main motor speed 1/2 2 2 1/2 -Please confirm the instruction value in which the rotational speed corresponds between while the mastering inverter is driven is displayed in the output frequency setting(F001) on the slave side when the driving instruction is put, and the slave side doesn't drive. -Please raise and adjust the feed-forward gain setting(P022) or the positional loop gain setting(P023) when the response of the follow on the slave side is late. (Refer to Chapter 4.3.7 )
- Page 115 and 116: Chapter 4 Explanation of Functions
- Page 117 and 118: Chapter 4 Explanation of Functions
- Page 119 and 120: Chapter 4 Explanation of Functions
- Page 121 and 122: Chapter 4 Explanation of Functions
- Page 123 and 124: Chapter 4 Explanation of Functions
- Page 125 and 126: Chapter 4 Explanation of Functions
- Page 127 and 128: Chapter 4 Explanation of Functions
- Page 129 and 130: Chapter 4 Explanation of Functions
- Page 131 and 132: Chapter 4 Explanation of Functions
- Page 133 and 134: Chapter 4 Explanation of Functions
- Page 135 and 136: Chapter 4 Explanation of Functions
- Page 137 and 138: Chapter 4 Explanation of Functions
- Page 139 and 140: Chapter 4 Explanation of Functions
- Page 141 and 142: Chapter 4 Explanation of Functions
- Page 143 and 144: Chapter 4 Explanation of Functions
- Page 145 and 146: Chapter 4 Explanation of Functions
- Page 147 and 148: Chapter 4 Explanation of Functions
- Page 149 and 150: Voltage across main circuit termina
- Page 151 and 152: Chapter 4 Explanation of Functions
- Page 153 and 154: Chapter 4 Explanation of Functions
- Page 155 and 156: Chapter 4 Explanation of Functions
- Page 157 and 158: Chapter 4 Explanation of Functions
- Page 159 and 160: Chapter 4 Explanation of Functions
- Page 161 and 162: Chapter 4 Explanation of Functions
- Page 163 and 164: Chapter 4 Explanation of Functions
- Page 165: Chapter 4 Explanation of Functions
- Page 169 and 170: Chapter 4 Explanation of Functions
- Page 171 and 172: Chapter 4 Explanation of Functions
- Page 173 and 174: Chapter 4 Explanation of Functions
- Page 175 and 176: Chapter 4 Explanation of Functions
- Page 177 and 178: Chapter 4 Explanation of Functions
- Page 179 and 180: Chapter 4 Explanation of Functions
- Page 181 and 182: Chapter 4 Explanation of Functions
- Page 183 and 184: Chapter 4 Explanation of Functions
- Page 185 and 186: Chapter 4 Explanation of Functions
- Page 187 and 188: Chapter 4 Explanation of Functions
- Page 189 and 190: Chapter 4 Explanation of Functions
- Page 191 and 192: Chapter 4 Explanation of Functions
- Page 193 and 194: Chapter 4 Explanation of Functions
- Page 195 and 196: Chapter 4 Explanation of Functions
- Page 197 and 198: Chapter 4 Explanation of Functions
- Page 199 and 200: Chapter 4 Explanation of Functions
- Page 201 and 202: Chapter 4 Explanation of Functions
- Page 203 and 204: Chapter 4 Explanation of Functions
- Page 205 and 206: Chapter 4 Explanation of Functions
- Page 207 and 208: Chapter 4 Explanation of Functions
- Page 209 and 210: Chapter 4 Explanation of Functions
- Page 211 and 212: Chapter 4 Explanation of Functions
- Page 213 and 214: Chapter 4 Explanation of Functions
- Page 215 and 216: Chapter 4 Explanation of Functions
Chapter 4 Explanation of Functions<br />
4.3.7 Electronic gear function<br />
The electronic gear function allows you to set a gain on the<br />
position command or position feedback data to adjust the ratio<br />
between the main motor and sub-motor speeds during the<br />
synchronous operation of the motors.<br />
Related code<br />
P019: Electronic gear set position selection<br />
P020: Electronic gear ratio numerator setting<br />
P021: Electronic gear ratio denominator<br />
setting<br />
P022: Feed-forward gain setting<br />
P023: Position loop gain setting<br />
Item Function code Data or range of data Description<br />
Electronic gear set position<br />
00 Position feedback (FB) side<br />
P019<br />
selection<br />
01 Position command (REF) side<br />
Electronic gear ratio numerator<br />
setting (Note 4)<br />
P020 1 to 9999<br />
Electronic gear ratio<br />
denominator setting (Note 4)<br />
P021 1 to 9999<br />
Feed-forward gain setting<br />
(Note 2)<br />
P022 0.00 to 655.3<br />
Position loop gain setting (Note<br />
3)<br />
P023 0.00 to 99.99 or 100.0 (rad/s)<br />
Note 1: Block diagrams for the electronic gear function are shown below.<br />
P019 = 00 (FB)<br />
Position<br />
command<br />
First order lag filter<br />
1<br />
1+ST<br />
Feed-forward gain<br />
P022<br />
Position loop<br />
gain<br />
P023<br />
Speed<br />
command<br />
N<br />
D<br />
Electronic<br />
gear<br />
Position-control feedback<br />
P019 = 01 (REF)<br />
Position<br />
command<br />
First order lag filter<br />
1<br />
Electronic<br />
gear 1+ST<br />
N<br />
D<br />
Feed-forward gain<br />
P022<br />
Position loop<br />
gain<br />
P023<br />
Speed<br />
command<br />
Position-control feedback<br />
Note 2: You are recommended to set the feed-forward gain setting (P022) to 2.00 first when adjusting the<br />
feed-forward gain. To reduce the position deviation between the main motor and sub-motor,<br />
increase the feed-forward gain. If the motor operation is unstable, reduce the feed-forward gain.<br />
Note 3: You are recommended to set the position loop gain (P023) to 2.00 first when adjusting the loop<br />
gain. To increase the positioning accuracy and position-holding force, increase the loop gain. If a<br />
high loop gain results in unstable motor operation, reduce the loop gain.<br />
Note 4: The electronic gear ratio (N/D) must be within the following range:<br />
1/50 ≤ N/D ≤ 20<br />
N: Electronic gear ratio numerator (P020)<br />
D: Electronic gear ratio denominator (P021)<br />
4 - 102
Change language