Panasonic MINAS A4P Series - Manual (Page 60)

60
Parameter Setup
Standard default : < >
Servo
PrNo.
Setup
range
Unit Title Function/Content
13 0 to 5
<0>*
– 1st speed
detection filter
You can set up the time constant of the low pass filter (LPF) after the
speed detection, in 6 steps. Higher the setup, larger the time constant you
can obtain so that you can decrease the motor noise, however, response
becomes slow. Use with a default value of 0 in normal operation.
This setting is invalid if SV.Pr27 (Velocity observer) is enabled.
15 –2000
to 2000
<300>*
0.1% Velocity feed
forward
You can set up the velocity feed forward volume at position control.
Use when high-speed response is required.
16 0 to 6400
<50>*
0.01ms Feed forward filter
time constant
You can set up the time constant of 1st delay filter inserted in velocity feed
forward portion.
14 0 – 2500
A to C-frame:<65>*
D to F-frame:<126>*
0.01ms 1st torque filter time
constant
You can set up the time constant of the 1st delay filter inserted in the
torque command portion. You might expect suppression of oscillation
caused by distortion resonance.
1D 100 to 1500
<1500>
Hz 1st notch
frequency
Specify the frequency of the 1st resonance suppressing notch filter. Use it
according to the machine resonance frequency.
If this parameter is set to “1500”, the notch filter function is disabled.
<Note>
This parameter may be changed depending on the adaptive filter settings.
1E 0 to 4
<2>
– 1st notch width
selection
You can set up the notch filter width of the 1st resonance suppressing
filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
<Note>
This parameter may be changed depending on the adaptive filter
operation. If it is combined with the adaptive filter, use the 2nd notch filter.
18
19
1A
1B
1C
0 to 3000
A to C-frame:<73>*
D to F-frame:<38>*
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1 to 1000
<1000>*
0 to 5
<0>*
0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
1/s
Hz
ms
–
0.01ms
2nd position loop
gain
2nd velocity loop
gain
2nd velocity loop
integration time
constant
2nd speed
detection filter
2nd torque filter
time constant
Set when performing optimum tuning using the gain switching function.
Set the second loop gain for position control.
Set when performing optimum tuning using the gain switching function.
When SV.Pr20 (Inertia ratio) has been set correctly, the set time is “Hz”.
Set when performing optimum tuning using the gain switching function.
When using in a vertical axis, to keep the integration value, set “999”.
To disable the integration, set “1000”.
Set when performing optimum tuning using the gain switching function.
If you increase the value, the motor noise reduces.
This setting is disabled if the instantaneous speed observer is enabled
(SV.Pr27 = 1).
Set when performing optimum tuning using the gain switching function.
Set the time constant of 1st delay filter of the torque command.
27
(P)
0 to 1
<0>*
– Velocity observer With a high stiffness machine, you can achieve both high response and
reduction of vibration at stall, by using this instantaneous speed observer.
Setup value
<0>*
1
Instantaneous speed observer setup
Invalid
Valid
You need to set up the inertia ratio of SV.Pr20 correctly to use this function.
If you set up SV.Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), SV.Pr27 becomes 0 (invalid).
28 100 to 1500
<1500>
Hz 2nd notch
frequency
You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".