Gain Switching Function - Panasonic minas a4 series Instruction Manual

Caution
(1) Enter the command pulses based on the external scale reference.
(2) The external scales to used for full-closed control are as follows.
• AT500 series by Mitutoyo (Resolution 0.05[ µm], max. speed 2[m/s])
• ST771 by Mitutoyo (Resolution 0.5[ µm], max. speed 2[m/s])
(3) To prevent the runaway and damage of the machine due to the setup of the external scale, setup the
hybrid deviation excess (Pr7B) to the appropriate value, in the unit of external scale resolution.
(4) We recommend the external scale as 1/20
If you setup the external scale ratio to smaller value than 50/position loop gain (Pr10 and 18), you may
not be able to control by one pulse unit. If you set up too large external scale ratio, you may expect
larger noise in movement.

Gain Switching Function

At manual gain tuning, you can set 2nd gain manu-
ally in addition to 1st gain and you can switch the
gain depending on the various requirements of the
action such cases as,
• you want to increase the response by increasing
the gain in motion
• you want to increase the servo-lock stiffness by in-
creasing the gain at stopping
• switch to the optimum gain according to the action mode
• lower the gain to suppress the vibration at stopping.
<Example>
Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up to
lower gain after the motor stops.
• Make adjustment referring to the auto-gain tuning table (P.237) as well.
Parameter
No.
Title of parameter
(Pr )
10 1st gain of position loop
11 1st gain of velocity loop
12 1st time constant of velocity integration
13 1st filter of velocity detection
14 1st time constant of torque filter
15 Velocity feed forward
16 Filter of velocity feed forward
18 2nd gain of position loop
19 2nd gain of velocity loop
1A 2nd time constant of velocity integration
1B 2nd filter of velocity detection
1C 2nd time constant of torque filter time
30 Action setup of 2nd gain
31 1st mode of control switching
32 1st delay time of control switching
33 1st level of control switching
34 1st hysteresis of control switching
35 Switching time of position gain
20 Inertia ration
< =
external scale ratio
Action
Command speed
(Servo-Lock)
Status
Gain
(1st gain)
Execute manual Set up the same
gain-tuning value as Pr10-14
without gain (1st gain) to
switching Pr18-1C (2nd gain)
63
35
16
0
65
300
50
0
• Enter the known value
from load calculation
• Measure the inertia
ratio by executing nor
mal auto-gain tuning
• Default is 250
< =
20.
Stop
Run
Low gain
High gain
(2nd gain)
1ms 2ms
Suppress the vibration by lowering the gain.
Set up Pr30-35
(Gain switching
condition)
63
35
16
0
65
1
7
30
0
0
0
[Adjustment]
Stop
Time
(Servo-Lock)
Low gain
(1st gain)
Adjust P411 and
14 at stopping
(1st gain)
27
84
243