3HAC025338-006 ABB 配件驱动器

3HAC025338-006 ABB 配件驱动器

1、设定位置环调节器的比例增益；

2、设置值越大，增益越高，刚度越大，相同频率指令脉冲条件下，位置滞后量越小。但数值太大可能会引起振荡或超调；

3、参数数值由具体的伺服系统型号和负载情况确定。

位置前馈增益

1、设定位置环的前馈增益；

2、设定值越大时，表示在任何频率的指令脉冲下，位置滞后量越小；

3、位置环的前馈增益大，控制系统的高速响应特性提高，但会使系统的位置不稳定，容易产生振荡；

4、不需要很高的响应特性时，本参数通常设为0表示范围：0~100%。

速度比例增益

1、设定速度调节器的比例增益；

2、设置值越大，增益越高，刚度越大。参数数值根据具体的伺服驱动系统型号和负载值情况确定。一般情况下，负载惯量越大，设定值越大；

3、在系统不产生振荡的条件下，尽量设定较大的值。

3HAC025338-006 ABB 配件驱动器速度积分时间常数

1、设定速度调节器的积分时间常数；

2、设置值越小，积分速度越快。参数数值根据具体的伺服驱动系统型号和负载情况确定。一般情况下，负载惯量越大，设定值越大；

3、在系统不产生振荡的条件下，尽量设定较小的值。

信息：

•RAPID概述：RAPID编程语言概述。

•RAPID指令、函数和数据类型：所有说明和语法

RAPID指令、功能和数据类型。

•系统参数：系统参数和配置工作流程的描述。

3HAC025338-006 ABB 配件驱动器应用手册

具体应用程序（例如软件或硬件选项）在

应用手册。应用手册可以描述一个或多个应用程序。

应用手册通常包含以下信息：

•应用程序的目的（它做什么以及何时有用）

•包括什么（例如电缆、I/O板、RAPID说明、系统

参数，带PC软件的CD）

•如何使用应用程序

•如何使用应用程序的示例

3HAC026289-001驱动系统电源DSQC 626A

3HAC020466-001驱动系统电源外部DSQC 627

3HAC024473-001轴计算机单元DSQC 601

3HAC14549-1整流器DSQC 618

3HAC025338-001主伺服驱动单元，D6 3B 3A DSQC 617

3HAC025338-002主伺服驱动单元，D6 2E 2C 2B DSQC 617

3HAC025338-003主伺服驱动单元，D4 3E 1C DSQC 617

3HAC13389-2接触器接口板DSQC 611

3HAC17281-3直流母线S2

3HAC026899-001制动电阻器放气IRB 140、340，

360

3HAC027027-001制动电阻器放气IRB 260

3HAC026865-001线束电源/驱动

3HAC024254-001以太网电缆通道控制器

3HAC025338-006 ABB 配件驱动器

3HAC025338-006 ABB accessory driver

1. Set the proportional gain of the position ring regulator;

2, the larger the set value, the higher the gain, the greater the stiffness, the same frequency command pulse condition, the smaller the position lag. However, too large a value may cause oscillation or overshoot;

3, the parameter value is determined by the specific servo system model and load.

Position feedforward gain

1. Set the feedforward gain of the position loop;

2. The larger the set value, the smaller the position lag under any frequency instruction pulse;

3, the position loop feedforward gain is large, the high-speed response characteristics of the control system is improved, but the position of the system will be unstable, easy to produce oscillation;

4. When high response characteristics are not required, this parameter is usually set to 0 to indicate the range: 0~100%.

Velocity proportional gain

1, set the proportional gain of the speed regulator;

2, the higher the setting value, the higher the gain, the greater the stiffness. The parameter value is determined according to the specific servo drive system model and load value. In general, the larger the load inertia, the larger the set value;

3, under the condition that the system does not produce oscillation, try to set a larger value.

3HAC025338-006 Speed integration time constant of ABB accessory driver

1. Set the integral time constant of the speed regulator;

2, the smaller the setting value, the faster the integration speed. The parameter value is determined according to the specific servo drive system model and load. In general, the larger the load inertia, the larger the set value;

3, under the condition that the system does not produce oscillation, try to set a small value.

Info:

•RAPID Overview: Overview of the RAPID programming language.

•RAPID instructions, functions, and data types: all descriptions and syntax

RAPID directives, functions, and data types.

• System parameters: A description of the system parameters and configuration workflow.

3HAC025338-006 ABB Accessory Driver Application Manual

Specific applications (such as software or hardware options) are available

Application manual. An application manual can describe one or more applications.

Application manuals usually contain the following information:

• The purpose of the application (what it does and when it is useful)

• What is included (e.g., cables, I/O boards, RAPID instructions, systems

Parameters, CD with PC software)

• How do I use the app

• How to use the application example

3HAC026289-001 Drive system power supply DSQC 626A

3HAC020466-001 Drive system power supply external DSQC 627

3HAC024473-001 Axis computer unit DSQC 601

3HAC14549-1 Rectifier DSQC 618

3HAC025338-001 Main servo drive unit, D63B 3A DSQC 617

3HAC025338-002 Main servo drive unit, D6 2E 2C 2B DSQC 617

3HAC025338-003 Main servo drive unit, D4 3E 1C DSQC 617

3HAC13389-2 Contactor interface board DSQC 611

3HAC17281-3 DC bus S2

3HAC026899-001 Brake resistor bleed IRB 140, 340,

360

3HAC027027-001 Brake resistor bleed IRB 260

3HAC026865-001 Harness power/drive

3HAC024254-001 Ethernet cable channel controller