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- App.23 -
Appendixes
PrNo. Parameter
Value
Unit Function
• You can set-up the ratio of load inertia to the
motor's rotor inertia.
•
Set values change by operating gain adjustment rotary switch GAIN.
(See page 58.)
•
The load inertia can be estimated by executing the auto gain
tuning, and this result will be reflected in this parameter.
If Pr20 (inertia ratio) is set correctly, the unit of the values
of Pr11 and Pr19 becomes Hz. If the value of Pr20 is larger
than the actual load inertia, the unit of the value of these
parameters becomes larger. If the value of Pr20 is smaller
than the actual load inertia, the unit of the value of these
parameters becomes smaller.
• You can define the operating mode of the real
time auto tuning.
•
With a larger value of Pr21, a quicker response to the change of load
inertia can be obtained, though the operation may become unstable
depending on the operating pattern. In normal cases, the value of this
parameter should be 1 or 2.
•
You can set-up the machine stiffness (from 10 options) that is
used at the real time auto gain tuning.
•
Large impact shock might be given to the machine, when you suddenly
set this parameter to a larger value. Start from the smaller value while
monitoring the machine movement.
20
21
22
Inertia ratio
Real time auto
tuning set-up
Machine
stiffness at
Real time
auto tuning
0 ~
10000
[100]
0 ~ 3
0 ~ 9
[ 2 ]
%
—
—
Pr20 = (Load inertia)/(Rotor inertia) x100%
Low
Machine stiffness
High
Low Servo gain High
Low Response High
Pr22 0 • 1- - - - - - - - - - - - - 8 • 9
Parameters for real time gain tuning
Real time auto tuning
Not used
Used
Fluctuation of load inertia during operation
----------
Rarely fluctuates
Fluctuates slowly
Fluctuates quickly
Value
[ 0 ]
1
2
3
Default : [ ]