Sharp CP-SR421 Uživatelský manuál Strana 110

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5. PARAMETERS
5 - 13
No. Symbol Name and function
Initial
value
(unit)
Setting
range
PA04
AOP1
Table 5.1 Deceleration method
Refer to Name
and function
column.
Deceleration method
Setting
value
EM2/EM1
EM2 or EM1 is off Alarm occurred
0 0 _ _ EM1 MBR (Electromagnetic brake
interlock) turns off without the
forced stop deceleration.
MBR (Electromagnetic brake
interlock) turns off without the
forced stop deceleration.
2 0 _ _ EM2 MBR (Electromagnetic brake
interlock) turns off after the
forced stop deceleration.
MBR (Electromagnetic brake
interlock) turns off after the
forced stop deceleration.
0 1 _ _ Not using
EM2 or EM1
MBR (Electromagnetic brake
interlock) turns off without the
forced stop deceleration.
2 1 _ _ Not using
EM2 or EM1
MBR (Electromagnetic brake
interlock) turns off after the
forced stop deceleration.
PA08 ATU Auto tuning mode
Select the gain adjustment mode.
Refer to Name
and function
column.
Setting
digit
Explanation
Initial
value
_ _ _ x Gain adjustment mode selection
0: 2 gain adjustment mode 1 (interpolation mode)
1: Auto tuning mode 1
2: Auto tuning mode 2
3: Manual mode
4: 2 gain adjustment mode 2
Refer to table 5.2 for details.
1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Table 5.2 Gain adjustment mode selection
Setting
value
Gain adjustment
mode
Automatically adjusted parameter
_ _ _ 0 2 gain adjustment
mode 1 (interpolation
mode)
[Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1 Auto tuning mode 1 [Pr. PB06 Load to motor inertia ratio/load to motor
mass ratio]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 2 Auto tuning mode 2 [Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 3 Manual mode
_ _ _ 4 2 gain adjustment
mode 2
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
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