Panasonic MDDDT5540 - Manual (Page 57)

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How to improve the response further
You can manually adjust the 2nd gain.
With the 2nd gain adjustment, you can expect quicker response.
< E x a m p l e >
When you want to reduce the noise produced during the stopping (servo-locking), you
set the lower gain after the motor stops.
<Notes> For setting parameters for other control modes, see Appendix.
Action
Status
Gain
Suppress
the vibration by
lowering the gain
Stop
(servo-lock)
Lower gain
(1st gain)
Lower gain
(1st gain)
Higher gain
(2nd gain)
1ms 2ms
Stop
(servo-lock)
Run Time
Commanded
speed
Preparations
and
Adjustments
Concept of adjustment
OK, if there is no unusual running noise at servo lock in
stop. If unusual noise is found, make the value smaller.
OK, if there is no problem with the motion. With a smaller
value, responsibility improves. With an excessively small
value, oscillation occurs.
Fixed set-up
OK, if there is no unusual running noise at servo lock in
stop. If unusual noise is found, change the value.
OK, if there is no problem with the motion. With a larger
value, responsibility improves. With an excessively large
value, oscillation occurs.
OK, if there is no unusual running noise. If unusual noise
is found, make the value smaller.
First, make the set-up correctly.
Fixed set-up
OK, if there is no unusual running noise. If unusual noise is
found, change the value.
Parameter No.
P r 1 0
P r 1 1
P r 1 2
P r 1 3
P r 1 4
P r 1 8
P r 1 9
P r 2 0
P r 3 0
P r 3 1
P r 1 A
P r 1 B
P r 1 C
Parameter description
1st position loop gain
1st velocity loop gain
1st velocity loop
integration time constant
1st velocity detection filter
1st torque filter time
c o n s t a n t
2nd position loop gain
2nd position loop gain
Inertia ratio
2nd gain operation set-up
Position control changeover mode
2nd velocity loop
integration time constant
2nd velocity detection filter
2nd torque filter time
c o n s t a n t
Guidance value
Value same as the 2nd
position loop gain
Value same as the
2nd velocity loop gain
5 0
0
V a l u e s a m e a s t h e
2nd torque filter time
c o n s t a n t
5 0
3 0
1
7
1 0 0 0
0
5 0