Panasonic MINAS S Series Operating Manual page 76

Pr14 1st torque filter time
constant
If you want to improve the response further, adjust Pr15 (Velocity Feed Forward) within the extent
that the motor (machine) does not generate abnormal sound or vibration.
• With a larger value, overshoot and/or chattering of in-position signals may occur, which results
in a longer in-position time. Note that this may be improved by adjusting the value of Pr16 (Feed
Forward Filter).
How to Adjust the Gains at Internal Velocity Control mode
1) Start the motor (machine).
2) Increase the value of Pr11 (1st Velocity Loop Gain) gradually until the motor
not generate abnormal sound or vibration.
3) Decrease the value of Pr12 (1st velocity Loop Integration Time Constant) according to the delay
ofcommands.
• With a smaller value, overshoot may occur.
How to improve the response further
You can manually adjust the 2nd gain.
With the 2nd gain adjustment, you can expect quicker response.
<Example>
When you want to reduce the noise produced during the stopping (servo-locking), you set the lower
gain after the motor stops.
5 0 change the value. Adjust the value so that "Pr11 set-up
value x Pr14 set-up value" may be smaller than 10000. If
vibration takes place, make Pr14 larger and Pr11 smaller.
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(machine) does