Nidec Control Techniques Digitax-SF Series Instruction Manual
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77１. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22. Control Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42. Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82. Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93.Quick Tuning on Digitax SF Connect� � � � � � � � � � � � � � � � � � � � � � � � �9Final Tuning: Position Control Mode � � � � � � � � � � � � � � � � � � � � � � � �12Quick Tuning on Setup Panel � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �14Velocity Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Auto Tuning on Digitax SF Connect � � � � � � � � � � � � � � � � � � � � � � � � � � �17Final Tuning: Velocity Control Mode � � � � � � � � � � � � � � � � � � � � � � � �20Auto Tuning on Setup Panel � � � � � � � � � � � � � � � � � � � � � � � � � � � . . � � � � �223. Tuning Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261. Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26Inertia Condition � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �26Control Gain Set � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �27Mode Switch � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �28Tuning Items � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �282. Final Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Inertia Ratio � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �29Position Control Mode: Control Gain 1 � � � � � � � � � � � � � � � � � � � � � � �30Position Control Mode: Control Gain 2 � � � � � � � � � � � � � � � � � � � � � � �31Velocity Control Mode: Control Gain 1 � � � � � � � � � � � � � � � � � � � � � �32Position Control Mode: Gain FF Compensation 1 � � � � � � � � � � � � � �33Position Control Mode: Gain FF Compensation 2 � � � � � � � � � � � � � �34Integral Gain � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �353. Position Command Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Position Command Smoothing Filters 1 and 2 � � � � � � � � � � � � � � � � �38Position Command Notch Filter� � � � � � � � � � � � � � � � � � � � � � � � � � � � �39Position Command γ-Notch Filter � � � � � � � � � � � � � � � � � � � � � � � � � � �404. Torque Command Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41Torque Command Filter: Notch Filter � � � � � � � � � � � � � � � � � � � � � � � �42Torque Command Low-Pass Filter � � � � � � � � � � � � � � � � � � � � � � � � � � �434. Using Digitax SF Connect to Measure Vibration Frequency(FFT). .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44Tuning |
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