Parameters For Auto-Gain Tuning - Panasonic minas a4 series Instruction Manual

Parameter Setup
PrNo. Title
18 2nd gain of
position loop
19 2nd gain of velocity
loop
1A 2nd time constant of
velocity loop integration
1B 2nd filter of velocity
detection
1C 2nd time constant
of torque filter
1D 1st notch
frequency
1E 1st notch width
selection

Parameters for Auto-Gain Tuning

PrNo. Title
20 Inertia ratio
21 Setup of real-time
auto-gain tuning
212
Setup
Unit
range
0 to 3000 1/s Position loop, velocity loop, speed detection filter and torque command
A to C-frame:<73>* filter have their 2 pairs of gain or time constant (1st and 2nd).
D to F-frame:<38>* For details of switching the 1st and the 2nd gain or the time constant, refer
1 to 3500 Hz to P.226, "Adjustment".
A to C-frame:<35>* The function and the content of each parameter is as same as that of the
D to F-frame:<18>* 1st gain and time constant.
1 to 1000 ms
<1000>*
0 to 5 –
<0>*
0 to 2500 0.01ms
A to C-frame:<65>*
D to F-frame:<126>*
100 to 1500 Hz You can set up the frequency of the 1st resonance suppressing notch filter.
<1500> The notch filter function will be invalidated by setting up this parameter to
"1500".
0 to 4 – You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.
<2> Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
Setup
Unit
range
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
0 to 10000 %
<250>*
Pr20=(load inertia/rotor inertia) X 100 [%]
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of Pr11 and Pr19
becomes (Hz). When the inertia ratio of Pr20 is larger than the actual, the
setup unit of the velocity loop gain becomes larger, and when the inertia
ratio of Pr20 is smaller than the actual, the setup unit of the velocity loop
gain becomes smaller.
You can set up the action mode of the real-time auto-gain tuning.
0 to 7 –
With higher setup such as 3 or 6, the driver respond quickly to the change
<1>
of the inertia during operation, however it might cause an unstable
operation. Use 1 or 4 for normal operation.For the vertical axis application,
use with the setup of 4 to 6.
When vibration occurs at gain switching, set up this to "7".
Setup value
Function/Content
Function/Content
Real-time
auto-gain tuning
0 Invalid
<1>
2 Normal mode
3
4
5 Vertical axis mode
6
7 No gain switching
Standard default : < >
Standard default : < >
Varying degree of
load inertia in motion
–
Little change
Gradual change
Rapid change
Little change
Gradual change
Rapid change
Little change