Panasonic minas a series Operating Manual page 62

How to Adjust the Gain at Position Control Mode
1) Start the motor (machine).
2) Set Pr10 (1st Position Loop Gain) to 50.
3) Increase the value of Pr11 (1st Velocity Loop Gain) gradually until the motor (machine) does not
generate abnormal sound or vibration.
4) CIncrease the value of Pr10 (1st Position Loop Gain) gradually until the motor (machine) does not
generate abnormal sound or vibration.
5) Decrease the value of Pr12 (1st Velocity Loop Integration Time Constant) accord ing to the In-
position time.
• With a larger value, positional errors may not be converged.
6) If you want to improve the response further, adjust Pr15 (Velocity Feed Forward) within the extent
that the motor (machine) does not generate abnormal sound or vibration.
• With a larger value, overshoot and/or chattering of in-position signals may occur, which results in
a longer in-position time. Note that this may be improved by adjusting the value of Pr16 (Feed
Forward Filter).
How to Adjust the Gains for Velocity Control
1.If the controller does not have a position loop gain
Adjust Pr11 (1st Velocity Loop Gain) and Pr12 (1st Velocity Loop Integration Time Constant). Note
that Pr15 (Velocity Feed Forward) is not effective.
1)
Increase the value of Pr11 (1st Velocity Loop Gain) gradually until the motor
(machine) does not generate abnormal sound or vibration.
2) Decrease the value of Pr12 (1st Velocity Loop Integration Time Constant) gradually until the over-
shoot/undershoot is reduced to an acceptable level.
2. If the controller has a position loop gain
1) Set Pr58 (Acceleration Time Set-Up), Pr59 (Deceleration Time Set-Up) and Pr5A (S-Curve Accel/
Decel Time Set-Up) to 0.
2) Increase the value of Pr11 (1st Velocity Loop Gain) gradually until the motor (machine) does not
generate abnormal sound or vibration.
3) Decrease the value of Pr12 (1st Velocity Loop Integration Time Constant) gradually until the
overshoot/undershoot is reduced to an acceptable level.
4) Adjust the position loop gain on the controller.
<Notes>
Position loop gain changes when you change the value of Pr50 (Velocity Command Input Gain).
Pr50 value Relationship between command voltage and velocity
Default = 500
250
750
6V at 3000r/min
6V at 1500r/min
6V at 4500r/min
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Position loop gain set in the controller
Assuming this is 1
1/2
1.5 times