Sharp CP-SR421 Manual do Utilizador descarregar pdf (Página 179)

7. SPECIAL ADJUSTMENT FUNCTIONS

7 - 16

7.2.3 Parameter

When using the gain switching function, always select "Manual mode (_ _ _ 3)" of "Gain adjustment mode

selection" in [Pr. PA08 Auto tuning mode]. The gain switching function cannot be used in the auto tuning

mode.

(1) Variable gain operation setting parameter

Parameter Symbol Name Unit Description

PB26 CDP Gain switching selection Used to select the changing condition.

PB27 CDL Gain switching condition [kpps]

/[pulse]

/[r/min]

Used to set the changing condition values.

PB28 CDT Gain switching time constant [ms] You can set the filter time constant for a gain change at

changing.

(a) [Pr. PB26 Gain switching function]

Used to set the gain switching condition. Select the switching condition in the first digit and second

digit.

ࠥࠗࡦಾ឵߃ㆬᛯ

0: ήല

1: ࠦࡦ࠻ࡠ࡯࡜߆ࠄߩ೙ᓮᜰ઎߇᦭ല

2: ᜰ઎๟ᵄᢙ

3: ḳࠅࡄ࡞ࠬ

4: ࠨ࡯ࡏࡕ࡯࠲࿁ォㅦᐲ/࡝࠾ࠕࠨ࡯ࡏࡕ࡯࠲ㅦᐲ

ࠥࠗࡦಾ឵߃᧦ઙ

0: ಾ឵߃᧦ઙએ਄ߢಾ឵߃ᓟࠥࠗࡦ᦭ല

1: ಾ឵߃᧦ઙએਅߢಾ឵߃ᓟࠥࠗࡦ᦭ല

[Pr.PB26]

(b) [Pr. PB27 Gain switching condition]

Set a level to switch gains after you select "Command frequency", "Droop pulses", or "Servo motor

speed/linear servo motor speed" in [Pr. PB26 Gain switching function].

The setting unit is as follows.

Gain switching condition Unit

Command frequency [kpps]

Droop pulses [pulse]

Servo motor speed/linear servo motor speed [r/min]/[mm/s]

You can set the primary delay filter to each gain at gain switching. This parameter is used to

suppress shock given to the machine if the gain difference is large at gain switching, for example.

Gain switching condition

Gain switching selection

Disabled

Control command from controller is enabled

Command frequency

Droop pulses

Servo motor speed/linear servo motor speed

Gain after switching is enabled with gain switching condition or more

Gain after switching is enabled with gain switching condition or less

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