Panasonic minas a4 series Instruction Manual page 115

PrNo. Title
22 Selection of
machine stiffness
at real-time
auto-gain tuning
23 Setup of adaptive
filter mode
24 Selection of
damping filter
switching
25 Setup of an action
at normal mode
auto-gain tuning
26 Setup of software
limit
27 Setup of
instantaneous
speed observer
You need to set up the inertia ratio of Pr20 correctly to use this function.
If you set up Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), Pr27 becomes 0 (invalid)
<Notes>
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
[Connection and Setup of Position Control Mode]
Setup
Unit
range
You can set up the machine stiffness in 16 steps while the real-time auto-
0 to 15 –
gain tuning is valid.
A to C-frame:
<4>
D to F-frame:
<1>
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine.
gradually watching the movement of the machine.
You can set up the action of the adaptive filter.
0 to 2 –
0 : Invalid
<1>
1 : Valid
2 : Hold (holds the adaptive filter frequency when this setup is changed to 2.)
<Caution>
When you set up the adaptive filter to invalid, the adaptive filter frequency
of Pr2F will be reset to 0. The adaptive filter is always invalid at the
torque control mode.
0 to 2 – You can select the switching method when you use the damping filter.
<0> 0 : No switching (both of 1st and 2nd are valid.)
1 : You can select either 1st or 2nd with damping control switching input
(VS-SEL).
2 : You can switch with the position command direction.
0 to 7 – You can set up the action pattern at the normal mode auto-gain tuning.
<0>
Setup value
<0>
1
2
3
4
5
6
7
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
You can set up the movable range of the motor against the position
0 to 1000 0.1
command input range. When the motor movement exceeds the setup
<10> revolution
value, software limit protection of Pr34 will be triggered. This parameter is
invalid with setup value of 0.
0 to 1 – With a high stiffness machine, you can achieve both high response and
<0>* reduction of vibration at stall, by using this instantaneous speed observer.
Setup value
<0>*
1
Function/Content
low machine stiffness
low servo gain
Pr22 0, 1- - - - - - - - - - - - 14, 15
low response
when VS-SEL is opened, 1st damping filter selection (Pr2B, 2C)
when VS-SEL is close, 2nd damping filter selection (Pr2D, 2E)
CCW : 1st damping filter selection (Pr2B, 2C).
CW : 2nd damping filter selection (Pr2D, 2E).
Number of revolution
2 [revolution]
1 [revolution]
Instantaneous speed observer setup
Standard default : < >
high
high
high
Increase the setup
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
Invalid
Valid
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