Adjustment In Position Control Mode; Adjustment In Velocity Control Mode - Panasonic minas a4 series Instruction Manual

Adjustment in Position Control Mode

Position control of MINAS-A4 series is described in Block diagram of P.82.
Make adjustment in position control per the following procedures.
(1) Set up the following parameters to the values of the table below.
Parameter
No. Title of parameter
(Pr )
10 1st gain of position loop
11 1st gain of velocity loop
12 1st time constant of velocity loop integration
13 1st filter of velocity detection
14 1st time constant of torque filter time
15 Velocity feed forward
16 Time constant of feed forward filter
18 2nd gain of position loop
19 2nd gain of velocity loop
1A 2nd time constant of velocity loop integration
1B 2nd filter of speed detection
1C 2nd time constant of torque filter
1D Selection of 1st notch frequency
1E Selection of 1st notch width
(2) Enter the inertia ratio of Pr20. Measure the ratio or setup the calculated value.
(3) Make adjustment using the standard values below.
Parameter
No.
Order Title of parameter
(Pr )
1st gain of
1 Pr11
velocity loop
1st time constant of
2 Pr14
torque filter
1st gain of
3 Pr10
position loop
1st time constant of
4 Pr12 velocity loop
integration
5 Pr15 Velocity feed forward

Adjustment in Velocity Control Mode

Velocity control of MINAS-A4 series is described in Block Diagram of P.126 of Velocity Control Mode.
Adjustment in velocity control is almost same as that in position control described in "Adjustment in Position
Control Mode", and make adjustments of parameters per the procedures except the gain setup of position
loop and the setup of velocity feed forward.
Parameter
Standard
value
(Pr
27
15
37
0
152
0
0
27
15
37
0
152
1500
2
Standard
value
Increase the value within the range where no abnormal noise and no vibration
30
occur. If they occur, lower the value.
When vibration occurs by changing Pr11, change this value.
Setup so as to make Pr11 x Pr14 becomes smaller than 10000. If you want to
suppress vibration at stopping, setup larger value to Pr14 and smaller value to
50
Pr11. If you experience too large vibration right before stopping, lower than
value of Pr14.
Adjust this observing the positioning time. Larger the setup, faster the
50
positioning time you can obtain, but too large setup may cause oscillation.
Setup this value within the range where no problem occurs. If you setup
smaller value, you can obtain a shorter positioning time, but too small value
25
may cause oscillation. If you setup too large value, deviation pulses do not
converge and will be remained.
Increase the value within the range where no abnormal noise occurs.
Too large setup may result in overshoot or chattering of position complete
300
signal, hence does not shorten the settling time. If the command pulse is not
even,you can improve by setting up Pr16 (Feed forward filter) to larger value.
No. Title of parameter
)
20 Inertia ratio
21 Setup of real time auto-gain tuning mode
23 Adaptive filter setup mode
2B 1st damping frequency
2C Setup of 1st damping filter
2D 2nd damping frequency
2E Setup of 2nd damping filter
30 2nd gain setup
31 Mode of position control switching
32 Delay time of position control switching delay
33 Level of position control switching
34 Hysteresis at position control switching
35 Position gain switching time
4C Setup of smoothing filter
4D Setup of FIR filter
How to adjust
[Adjustment]
Standard
value
100
0
0
0
0
0
0
0
0
0
0
0
0
1
0
241