[Class 1] Gain Adjustment - Panasonic MINAS A6 Series Operating Instructions Manual

1. Details of parameter

[Class 1] Gain adjustment

Pr1.12
Torque feed forward gain
• Multiply the torque command calculated according to the velocity control command by the
ratio of this parameter and add the result to the torque command resulting from the velocity
control process.
• Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by
increasing the torque forward gain. This means that positional deviation can be maintained
at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal
condition where disturbance torque is not active.
Pr1.13
Torque feed forward filter
• Set up the time constant of 1st delay filter which affects the input of torque feed forward.
• The torque feed forward will become effective as the torque feed forward gain is gradually
increased with the torque feed forward filter is set at approx. 50 (0.5 ms).
<Usage example of torque feed forward>
• To use the torque feed forward, correctly set the inertia ratio.
Use the value that was determined at the start of the real time auto tuning, or set the inertia
ratio that can be calculated from the machine specification to Pr0.04 Inertia ratio.
• The torque feed forward will become effective as the torque feed forward gain is gradually
increased with the torque feed forward filter is set at approx. 50 (0.5 ms).
• Positional deviation at a constant acceleration/deceleration can be minimized close to 0 by
increasing the torque forward gain. This means that positional deviation can be maintained
at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal
condition where disturbance torque is not active .
Caution
Zero positional deviation is impossible in actual situation because of disturbance torque.
As with the velocity feed forward, large torque feed forward filter time constant decreases
the operating noise but increases positional deviation at acceleration change point.
Pr1.14
2nd gain setup
Arrange this parameter when performing optimum adjustment by using the gain switching
function.
Setup value
0
[1]
Related page
For switching condition of the 1st and the 2nd, refer to P.5-31 "Gain Switching Function" of
Adjustment.
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4-18
1st gain is fixed at a value. By using the gain switching input (GAIN), change
the velocity loop operation from PI to P.
GAIN input photocoupler OFF
GAIN input photocoupler ON
* The above description applies when the logical setting of GAIN input is
a-contact. ON/OFF of photocoupler is reversed when b-contact.
Enable gain switching of 1st gain (Pr1.00-Pr1.04) and 2nd gain (Pr1.05-
Pr1.09).
Range
0 to 2000 0.1 %
Range
0 to 6400 0.01 ms
Range
0 to 1
Gain selection/switching
PI operation
P operation
Default: [ ]
Related
Unit Default
control mode
1000 P S
Related
Unit Default
control mode
0 P S
Related
Unit Default
control mode
— 1 P S T F
F
F