Yaskawa SGDB Manual do Utilizador descarregar pdf (Página 126)

100

101

APPLICATIONS OF Σ-SERIES PRODUCTS

3.5.3 Adjusting Gain

114

3.5.2 Using the Smoothing Function

The smoothing function adjusts constant-frequency reference input inside the SERVO-

PACK so that acceleration and deceleration can be as constant as possible. To use this

function, set the following parameter.

Cn-26

ACCTME Position Reference

Acceleration/Deceleration

Time Constant

(Smoothing)

Unit:

0.1 ms

Setting

Range:

0 to 640

Factory

Setting:

For

Position

Control

Only

This function performs acceleration/deceleration

processing for input reference pulses (primary lag

characteristics).

This function prevents the motor from running at

progressive speeds in the following cases:

• When the host controller which outputs refer-

ences cannot perform acceleration/decelera-

tion processing

• When reference pulse frequency is too low

• When reference electronic gear ratio is too high (more than 10 times)

This function does not change the travel distance (number of pulses).

3.5.3 Adjusting Gain

If speed loop gain or position loop gain exceeds the allowable limit for the servo system

including the machine to be controlled, the system will vibrate or become too susceptible.

Under such conditions, smooth operation cannot be expected. Reduce each loop gain

value to an appropriate value.

For servo gain adjustment, refer to the following section:

Section 3.6.2 Setting Servo Gain

Reference

pulse

SERVOPACK

Accelerati

on/decele

ration

Servomotor

Reference

pulse

frequency

Apply acceleration/deceleration

processing

Reference

pulse

frequency

Cn-26 (ACCTME)

1 2 ... 121 122 123 124 125 126 127 128 129 130 131 ... 584 585

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