Panasonic MINAS S Series Operating Manual page 124

PrNo. Parameter
1 8 2nd position
loop gain
1 9 2nd velocity
loop gain
1 A 2nd velocity
loop
integration
time constant
1 B 2nd speed
detection
filter
1 C 2nd torque
filter time
constant
1 D Notch
frequency
1 E Notch width
selection
• Use this function to reduce the over and
undershoot of thespeed, chattering of the in-
position signal.
Value Unit
• This amplifier provides 2(two) sets (1st.
0 ~ 1 / s
2000 and2nd.) of gain and time constant for position
[100] loop, velocity loop, velocity detection filter and
torque command filter.
1 ~ Hz
• The functions and meanings of these 2nd
3500 *
gainsor time constants are the same as those
[100]
of the 1st ones mentioned in the previous page.
1 ~ m s
• For switching between the 1st and 2nd gains
1000
orconstants, see Adjustment.
[50]
* If Pr20 (inertia ratio) has been set correctly, the
unit of the values of Pr11 and Pr19 is Hz.
—
0 ~ 5
[4]
0 ~ 0.01ms
2500
[50]
• You can set-up the frequency of the resonance
100 ~ Hz
500
suppression notch filter.
• You can set-up frequency 10% lower than the
[1500]
resonance frequency of the machine system
which you can obtain by the frequency
characteristics analysis program contained in
PANATERM ®.
• This notch filter function will be disabled by
setting this parameter at1500.
— • You can set-up the width (five options) of the
0 ~ 4
[ 2 ]
resonance suppression notch filter in 5 steps.
The higher the setting is, the wider the width
you can obtain.
• In normal cases, the default value should be
used.
- App.27 -
Function