Gain Switching Function - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
By selecting appropriate gain based on internal data or external signal, the following ef-
fects can be obtained.
• Decrease the gain at the time of stoppage (servo lock) to reduce vibration.
• Increase the gain at the time of stoppage (setting) to shorten the settling time.
• Increase the gain during operation to improve command compliance.
• Based on condition of the equipment, change the gain with external signal.
Action
Status
Gain
<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 basic gain parameter setup table (P.5-9) as well.
Parameter
No.
Title of parameter
(Pr )
1st gain of position loop
1.00
1st gain of velocity loop
1.01
1st time constant of velocity integration
1.02
1st filter of velocity detection
1.03
1st time constant of torque filter
1.04
Velocity feed forward
1.10
Filter of velocity feed forward
1.11
2nd gain of position loop
1.05
1.06 2nd gain of velocity loop
2nd time constant of velocity integration
1.07
2nd filter of velocity detection
1.08
2nd time constant of torque filter time
1.09
1.14 Action setup of 2nd gain
1st mode of control switching
1.15
1st delay time of control switching
1.16
1st level of control switching
1.17
1st hysteresis of control switching
1.18
Switching time of position gain
1.19
Inertia ration
0.04
Related page
• P.4-6 to P.4-85... "Details of parameter"
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4. Manual Gain Tuning (Basic)

Gain Switching Function

Command speed
Stop
Run
(Servo-Lock)
Low gain
High gain
(1st gain)
(2nd gain)
1 ms
Suppress the vibration by lowering the gain.
Execute manual
gain-tuning
without gain
switching
630
350
160
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
Stop
(Servo-Lock)
Low gain
(1st gain)
2 ms
Set up the same Set up Pr1.14 to
value as Pr1.05
to 1.09 (2nd gain) (Gain switching
to Pr1.00 to 1.04 condition)
(1st gain)
630
350
160
0
65
Time
Adjust Pr1.01
1.19 and 1.04 at
stopping
(1st gain)
270
84
1
7
30
0
0
0