Panasonic MINAS A3 Series - Manual (Page 17)

147
[Connections and Settings in Torque Control Mode]
Connections and Settings in Torque Control Mode
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
11 1 – 3500
[35]*
Hz 1st Velocity loop
gain
• The parameter defines responsiveness of the speed loop. You need to
set this speed loop gain high so as to improve responsiveness of the
entire servo system by increasing position loop gain.
12 1 – 1000
[16]*
ms 1st Velocity loop
integration time
constant
• This parameter is an integration element of a speed loop and acts to
drive quickly the subtle speed deviation into zero. The smaller the
setting is, the faster deviation will be zeroed.
• Setting of “1000” will remove effects of integration.
13 0 – 6
[0]*
– 1st speed
detection
filter
• The parameter sets in 6 phases (0 to 5) a time constant of the low-pass
filter inserted after the block of converting an encoder signal into a
speed signal.
• Setting this parameter high would increase a time constant, thereby
reducing noise of the motor. However, usually use the factory setting (0).
1D 100 – 1500
[1500]
Hz 1st notch
frequency
• The parameter sets frequency of the resonance suppression notch filter.
• You should set it about 10% lower than the resonance frequency of the
mechanical system that has been found by the frequency characteristics
analysis facility of the setup assisted software “PANATERMR
®
”.
• Setting this parameter ”1500” would disable the function of notch filter.
19
1A
1B
1C
1 – 3500
[35]*
1 – 1000
[1000]*
0 – 6
[0]*
0 – 2500
[65]*
Hz
ms
–
0.01ms
2nd Velocity loop
gain
2nd Velocity loop inte-
gration time constant
2nd speed
detection filter
2nd torque filter
time constant
• A position loop, speed loop, speed detection filter, and torque command
filter, respectively, has 2 pairs of gains or time constants (the 1st and
2nd).
• Each function/content is similar to the 1st gain/time constraint, described
earlier.
• For details on switching of the 1st and 2nd gains or time constants, refer
to Adjustment volume on page 186.
* Pr11 and Pr19 will be set in terms of (Hz) when Pr20 inertia ratio has
been set correctly.
14 0 – 2500
[65]*
0.01ms 1st torque filter
time constant
• The parameter sets a time constant of the primary delay filter inserted
into the torque command unit.
• It effects the control of vibration because of the torsion resonance.
Parameter
No.
Setting
range
Parameter Name Unit Function/Description
Default setting is shown by [ ]
1E 0 – 4
[2]
– 1st notch width
selection
• The parameter sets width of the resonance suppression notch filter in 5
steps. The higher the setting is, the greater the width is.
• Normally, use a factory setting.
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.