Ratoc Systems USB-Serial Converter REX-USB60F Bedienungsanleitung PDF herunterladen (Seite 101)

5-35

Functions

5. Functions

5.11 Gain change function

The gain change function is a function for changing the position and speed control gain

during operation and is used in the following cases.

• To raise the control gain during servo-lock but to lower the gain to reduce noise

during run.

• To raise the control gain during settling to shorten the settling time.

5.11.1 Changing the control gain

A block diagram of the gain change function is shown below.

Position control

cut-off

frequency

Fd-09

Second position

control cut-off

frequency

Fd-32

Fd-33

Speed control

cut-off

frequency

Position gain

change time

constant

Fd-01

Position

command

Position

error

Speed

command

Position

control

Torque

command

Speed

Position

Detector

Robot

Speed

control

Input terminal

function

Position

error width

for gain

change

Gain change

mode

Fd-30

Fd-31

FC-40

No gain change

Auto change

• non

• AUto

Gain

change

Switching signal

1 2 ... 96 97 98 99 100 101 102 103 104 105 106 ... 249 250

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