Adjustment In Position Control Mode - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
Position control of MINAS-A6 series is described in Block diagram of P.3-14.
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 )
1st gain of position loop
1.00
1.01 1st gain of velocity loop
1st time constant of velocity loop integration
1.02
1st filter of velocity detection
1.03
1st time constant of torque filter time
1.04
Velocity feed forward
1.10
Time constant of feed forward filter
1.11
2nd gain of position loop
1.05
2nd gain of velocity loop
1.06
2nd time constant of velocity loop integration
1.07
2nd filter of speed detection
1.08
2nd time constant of torque filter
1.09
2.01 1st notch frequency
1st notch width selection
2.02
(2) Enter the inertia ratio of Pr0.04. Measure the ratio or setup the calculated value.
(3) Make adjustment using the standard values below.
Parameter
No.
Order Title
(Pr )
1st gain of
1 Pr1.01
velocity loop
1st time constant
2 Pr1.04
of torque filter
1st gain of
3 Pr1.00
position loop
1st time constant
4 Pr1.02 of velocity loop
integration
Velocity feed
5 Pr1.10
forward gain
Related page
• P.4-6 to P.4-85... "Details of parameter"
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4. Manual Gain Tuning (Basic)

Adjustment in Position Control Mode

Standard
value
270
150
370
0
152
0
0
270
150
370
0
152
5000
2
Standard
value
Increase the value within the range where no abnormal noise and no
300
vibration occur. If they occur, lower the value.
When vibration occurs by changing Pr1.01, change this value.
Setup so as to make Pr1.01 x Pr1.04 becomes smaller than 10000.
If you want to suppress vibration at stopping, setup larger value to
50
Pr1.04 and smaller value to Pr1.01. If you experience too large
vibration right before stopping, lower than value of Pr1.04.
Adjust this observing the positioning time. Larger the setup, faster
500 the 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 may cause oscillation. If you setup too large value,
250
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 signal, hence does not shorten the settling time. If the
300
command pulse is not even,you can improve by setting up Pr1.11
(Feed forward filter) to larger value.
• P.3-14... "Control Block Diagram"
Parameter
No.
Title of parameter
(Pr )
Inertia ratio
0.04
0.02 Setup of real time auto-gain tuning mode
Adaptive filter setup mode
2.00
1st damping frequency
2.14
Setup of 1st damping filter
2.15
2nd damping frequency
2.16
Setup of 2nd damping filter
2.17
2nd gain setup
1.14
Mode of position control switching
1.15
Delay time of position control switching delay
1.16
Level of position control switching
1.17
Hysteresis at position control switching
1.18
1.19 Position gain switching time
Positional command smoothing filter
2.22
Positional command FIR filter
2.23
How to adjust
1
2
Standard
value
100
0
0
0
0
3
0
0
0
0
0
0
0
4
0
1
0
5
6
7
5-31