Panasonic MINAS E-series - Manual (Page 93)

93
[Connections and Settings in Position Control Mode]
Connections and
Settings in Position
Control Mode
PrNo. Parameter Name Unit Function/Content
25
26
2B
2C
2F
Normal auto tuning
motion set-up
Software limit
setup
Damping
frequency
Damping filter
setting
Adaptive filter
frequency
–
0.1rev
0.1Hz
0.1Hz
–
0 - 7
0 - 1000
[10]
0 - 5000
[0]
–200 -
2500
[0]
0 - 64
• The parameter sets operation patterns of normal auto gain tuning.
Set the motor operational range for the corresponding position
command range.
If this parameter is set to “0”, then the software limit protection
detection will be disabled.
When using it, refer to “Software limit function”, Troubleshooting on page
148.
• The parameter sets vibration damping frequency for anti-vibration
control that suppresses vibration at leading ends of load.
• The parameter measures frequency of vibration at leading ends of
load, and sets it in [0.1Hz].
• Set minimum frequency is 100 [0.1Hz]. Even though you set it to 0
to 99, it will be ignored.
When you use this parameter, also see “Anti-Vibration Control” on
Page 142 of Adjustment edition.
<Remarks>
For Pr02=0 (high velocity response positioning control mode), you can set
the parameter only when both first notch filter and real time auto tuning are
disabled.
• You should set the parameter to a small value if torque saturation
results from setting of Pr2B damping frequency. Set it to a great
value if you wish to expedite positioning operation.
• We recommend that you usually set it to 0. Also see “Anti-Vibration
Control” on Page 142 of Adjustment edition.
• The parameter indicates Table No. that corresponds to frequency of
the adaptive filter (See Page 135).
• This parameter is automatically set when the adaptive filter is
enabled (i.e., when Pr21 real time auto tuning set-up is 1 to 3.7) and
a user is not allowed to change it.
[0]: Filter disabled 1-64: Filter enabled
• When the adaptive filter is enabled, this parameter is saved in
EEPROM every 30 minutes. If the adaptive filter is enabled next
time you power up, adaptive operation will start with the data
contained in EEPROM as an initial value.
• Should operation be wrong, clear the parameter. If you wish to reset
the adaptive operation, disable the adaptive filter, and then set it to
enabled again (i.e., set Pr21 real time auto tuning set-up to any
value other than 1 to 3.7).
Refer to “Manual Gain Tuning (To Reduce Mechanical Resonance”
on Page 140 of Adjustment edition.
Settings
[0]
1
2
3
4
5
6
7
Number of Rotations
2 rotations
1 rotations
Rotation Direction
CCW →CW
CW →CCW
CCW →CCW
CW →CW
CCW → CW
CW →CCW
CCW →CCW
CW →CW
Range of
Settings