Rockwell-automation 1326 Digital AC Multi-Axis Motion Control System U Manual de usuario descargar pdf (Pagina 147)

Publication 1394-5.0 — May 2000

Configuring Your 1394 Analog Servo System 8-11

[Droop]

This parameter is also referred to as "static gain."

It effectively acts as a very slow discharge of the

velocity loop integrator and has two uses:

•

As a component of an external position loop

system, setting this parameter to a higher, non-

zero value will eliminate servo hunting due to

load stick/slip friction effects.

•

As a deliberate "velocity droop" (secondary

drives only) in multiple-motor systems where

each drive axis is configured as a velocity loop

and the motors are mechanically coupled

together. Use of higher non-zero droop in this

case promotes load sharing.This parameter

selects the torque command source within the

drive. When operating the drive in velocity

mode, set to Velocity Mode 1 (#0). When

operating in torque mode (using S Class), set

to A/D Torque Block (#4).

This parameter selects the torque command

source within the drive. When operating the drive

in velocity mode, set to Velocity Mode 1 (#0).

When operating in torque mode (using S Class),

set to A/D Torque Block (#4).

The droop scaling is defined as that specified

droop in output rpm (i.e., velocity error) that will

result in 100% rated torque being applied by the

motor in reaction. This parameter only has effect

if [Intg Gain Ki] is not zero.

For Example: Speed regulation of 0 to 0.05%

maximum depending on optimization of system

performance settings. 3000 rpm, 0.05% = 1.5

rpm tolerance.

Parameter Numbers 380, 381, 382, 383

Parameter Group Vel Loop Data

Display Units rpm

Parameter Type Read/Write

Change While Running Ye s

Linkable No

Minimum Value 0.0 rpm (No Droop)

Maximum Value 15.6 rpm

Default Value 1.0 rpm

[Enabled Days]

Displays the number of days that the drive has

been enabled.

Parameter Numbers 93

Parameter Group Linear List

Display Units None

Parameter Type Read Only

Linkable No

[Enabled Minutes]

Displays the number of minutes that the drive has

presently been enabled.

Parameter Numbers 92

Parameter Group Linear List

Display Units None

Parameter Type Read Only

Linkable No

[Fdbk Pole Cnt]

The number of electrical poles on the resolver.

Note: Before making modifications to Mtr Data

parameters, [Motor Type] must be set to "custom

motor".

Parameter Numbers 400

Parameter Group Mtr Data

Display Units None

Parameter Type Read/Write

Change While Running No

Linkable No

Minimum Value 2

Maximum Value 8

Default Value This is determined by the motor catalog number.

1 2 ... 142 143 144 145 146 147 148 149 150 151 152 ... 300 301

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Rockwell-automation 1326 Digital AC Multi-Axis Motion Control System U Manual de usuario Pagina 147

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