Yaskawa Electric Ins B 400w Industrial 200V 3000RMP AC Servo Motor
SGMAH-04AAF4C
Configuration:
Model SGMAH-04AAF4C
Product Type AC Servo Motor
Rated Output 400w
Rated Torque 1.27 Nm
Rated Speed 3000RPM
Power Supply Voltage 200vAC
Rated Current 2.8Amps
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Adjusting PID Gains
An earlier discussion explained PID and showed the Bode diagram
(open loop gain as a function of frequency)for it. A number of
users of PID have indicated that they have difficulty adjusting the
gains (KP for theproportional gain, KI for the integral gain, and
KD for the differential gain). This reminds me of the golfer onthe
first tee whose first three swings resulted in nothing but air and
whose fourth swing dribbled down the
fairway. He turned to his friends and said, "This is a difficult
course, isn't it?" It was only difficult because he
didn't understand the basics and hadn't practiced them.
This discussion will concentrate on the basics - what happens when
you adjust each of the three factors? It willstill take some
practice to do it well and quickly - and you may never become a 300
yard hitter, but your scorewill improve dramatically!
Two Bode diagrams from the earlier discussion will be used to help
gain a picture of what happens when eachof the factors is adjusted.
The first Bode plot to be used is of the PID network by itself.
Later, a Bode diagramof the total loop gain incorporating the motor
(which is also an integrator) will be shown.
The PID network is shown below illustrating the effect of changing
only the proportional factor (KP). As can
be seen, increasing KP not only increases the mid-frequency range
proportional factor, but also lowers the
frequency at which the integration factor ceases effectiveness and
raises the frequency at which the differentialfactor begins to kick
in. The effect of lowering KP is also illustrated.
5-Wire Motor
This style is common in smaller unipolar motors. All of the common
coil wires are tied together internally abd brought out as a 5th
wire. This motor can only be driven as a unipolar motor.
6-Wire Motor
This motor only joins the common wires of 2 paired phases. These
two wires can be joined to create a 5-
wire unipolar motor. Or you just can ignore them and treat it like
a bipolar motor!
8-Wire Motor
The 8-wire unipolar is the most versatile motor of all. It can be
driven in several ways:
4-phase unipolar - All the common wires are connected together -
just like a 5-wire motor.
2-phase series bipolar - The phases are connected in series - just
like a 6-wire motor.
2-phase parallel bipolar - The phases are connected in parallel.
This results in half the resistance and inductance - but requires
twice the current to drive. The advantage of this wiring is higher
torque and top speed.
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Contact person: Anna
E-mail: wisdomlongkeji@163.com
Cellphone: +0086-13534205279
