User Manual - CNC4PC

Parameter Name & Function Default Unit
S curve speed command acceleration and
deceleration time setting.
Set Sn205=3 to enable this function.
In the period of Acc/Dec , drastic speed changing
might cause vibration of machine. S curve speed
command acc/dec time setting has the effect to
smooth acc/dec curve.
Speed Command (rpm)
Setting
Range
Control
Mode
Chapter
Sn208
ts=Sn208
ta=Sn209
td=Sn210
1 msec
1
│
1000
S 5-3-6
ts
ta
ts
ts
td
ts
Time
Sn209
Sn210
Sn211
t
Rule for the setting: a
t
> t
s
, d
> t
s
2 2
S curve speed command acceleration time setting.
Refer Sn208
S curve speed command deceleration time setting.
Refer Sn208
Speed loop Gain 1
Speed loop gain has a direct effect on the frequency
response bandwidth of the Speed-control loop.
Without causing vibration or noise Speed-loop-gain
can be increased to obtain a faster speed response.
200 msec
200 msec
40 Hz
0
│
5000
0
│
5000
10
│
450
S 5-3-6
S 5-3-6
Pi
Pe
S
5-3-8
5-5
If Cn025 (load Inertia ratio) is set correctly, the
speed-loop-bandwidth will equal to speed-loop-gain.
Speed-loop Integral time 1
Sn212
Speed loop integral element can eliminate the steady
speed error
and react to even slight speed variations.
Decreasing Integral time can improve system rigidity.
The formula below shows the relationship between
Integral time and Speed loop Gain.
1
SpeedLoopIntegrationTimeCons tan t ≥ 5 ×
2π × SpeedLoopGa
100
x0.2
ms
1
│
500
Pi
Pe
S
5-3-8
5-5
6-14