Sharp CP-SR421 Instrukcja Użytkownika Pobierz pdf (Strona 350)

100

101

16. FULLY CLOSED LOOP SYSTEM (available in the future)

16 - 13

(5) Setting of fully closed loop dual feedback filter

With the initial value (setting = 10) set in [Pr. PE08 Fully closed loop dual feedback filter the dual

feedback filter], make gain adjustment by auto tuning, etc. as in semi closed loop control. While

observing the servo operation waveform with the graph function, etc. of MR Configurator2, adjust the

dual feedback filter.

The dual feedback filter operates as described below depending on the setting.

[Pr. PE08] setting Control mode Vibration Settling time

0 Semi closed loop

4499

Dual feedback

Not frequently occurs

Frequently occurs

Long time

Short time

4500 Fully closed loop

Increasing the dual feedback filter setting shortens the settling time, but increases servo motor vibration

since the motor is more likely to be influenced by the load-side encoder vibration. The maximum setting

of the dual feedback filter should be less than half of the PG2 setting.

Reduction of settling time: Increase the dual feedback filter setting.

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Suppression of vibration: Decrease the dual feedback filter setting.

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Droop pulses

Command

Time

17999

18000

1 2 ... 345 346 347 348 349 350 351 352 353 354 355 ... 403 404

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Sharp CP-SR421 Instrukcja Użytkownika Strona 350

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