Panasonic MINAS S Series Operating Manual page 77

Adjustments
Suppress
the vibration by
lowering the gain
Parameter Parameter description
No.
Pr10 1st position loop gain
Pr11 1st velocity loop gain
Pr12 1st velocity
integration
constant
Pr13 1st velocity detection
filter
Pr14 1st torque filter time
constant
Pr18 2nd position loop gain
Pr19 2nd position loop gain
Pr20 Inertia ratio
Pr30 2nd gain operation set-
up
Pr31 Position control
changeover mode
Pr1A 2nd velocity
integration
constant
Pr1B 2nd velocity detection
filter
Pr1C 2nd torque filter time
constant
Commanded
Action
speed
Stop
Status ( servo-lock )
Lower gain
Gain
(1st gain)
Guidance value
Value same as the
2nd position loop
gain
Value same as the
2nd velocity loop
gain
loop 5 0
time
0
Value same as the
2nd torque filter
time constant
5 0
3 0
1
7
loop 1 0 0 0
time
0
5 0
- 76 -
Stop
Run
(servo-lock)
Higher gain Lower gain
(2 nd gain ) (1st gain)
1 ms 2 ms
Concept of adjustment
OK, if there is no unusual running noise at servo
lock in stop. If unusual noise is found, make the
value smaller.
OK, if there is no problem with the motion. With a
smaller value, responsibility improves. With an
excessively small value, oscillation occurs.
Fixed set-up
OK, if there is no unusual running noise at servo
lock in stop. If unusual noise is found, change the
value.
OK, if there is no problem with the motion. With a
larger value, responsibility improves. With an
excessively large value, oscillation occurs.
OK, if there is no unusual running noise. If unusual
noise is found, make the value smaller.
First, make the set-up correctly.
Fixed set-up
OK, if there is no unusual running noise. If unusual
noise is found, change the value.
Time