Panasonic MINAS A3 Series - Manual (Page 13)

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[Connections and Settings in Torque Control Mode]
Connections and Settings in Torque Control Mode
Parameter No.
11
12
13
14
19
1A
1B
1C
20
Name
1st speed loop gain
1st speed loop integration time constant
1st speed detection filter
1st torque filter time constant
2nd speed loop gain
2nd speed loop integration time constant
2nd speed detection filter
2nd torque filter time constant
Inertia ratio
Parameter No.
27
30
3A
0
1
0
Name Set value
Disturbance torque observer filter selection
2nd gain action set-up
Torque control switching mode
The following parameters are also set up
to the following fixed values automatically.
The following parameters
are tuned automatically.
Parameters, which are set up automatically
Caution
[1] Immediately after the first servo ON at startup or when Pr22 (machine stiffness at real-time auto tuning)
is increased, abnormal noise or oscillation may be generated before load inertia is determined. This is
not anomaly if it is stabilized shortly. However when such problems as oscillation or noise that continues
for 3 reciprocal operations or longer is encountered frequently, take the following measures:
1) Write the parameter of normal operation into the EEPROM.
2) Decrease the Pr22 (Machine stiffness at real-time auto tuning).
3) Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the
real time auto tuning again. (resetting of inertia estimate adaptive operation)
[2] After abnormal noise or oscillation, Pr20 (inertial ratio) may be changed to an extreme value. In such a
case, also take the above measures.
[3] Among results of real-time auto gain tuning, Pr20 (inertia ratio) is programmed into EEPROM every 30 min-
utes. When you turn on the power again, auto tuning will be executed using the data as initial value.