Parameters For Time Constants Of Gains And Filters: Related To Real Time Auto Tuning - Panasonic MINAS A3 Series How To Use Manual

Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning

Parameter
Parameter Name
No.
11 1st Velocity loop
gain
12 1st Velocity loop
integration time
constant
13 1st speed
detection
filter
14 1st torque filter
time constant
19 2nd Velocity loop
gain
1A 2nd Velocity loop inte-
gration time constant
1B 2nd speed
detection filter
1C 2nd torque filter
time constant
1D 1st notch
frequency
1E 1st notch width
selection
Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the
real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be
seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.
Setting
Unit
range
1 – 3500 Hz • The parameter defines responsiveness of the speed loop. You need to
[35]* set this speed loop gain high so as to improve responsiveness of the
entire servo system by increasing position loop gain.
1 – 1000 ms • This parameter is an integration element of a speed loop and acts to
[16]* drive quickly the subtle speed deviation into zero.
setting is, the faster deviation will be zeroed.
• Setting of "1000" will remove effects of integration.
0 – 6 – • The parameter sets in 6 phases (0 to 5) a time constant of the low-pass
[0]* filter inserted after the block of converting an encoder signal into a
speed signal.
• Setting this parameter high would increase a time constant, thereby
reducing noise of the motor. However, usually use the factory setting (0).
0 – 2500 0.01ms • The parameter sets a time constant of the primary delay filter inserted
[65]* into the torque command unit.
• It effects the control of vibration because of the torsion resonance.
1 – 3500 Hz • A position loop, speed loop, speed detection filter, and torque command
[35]* filter, respectively, has 2 pairs of gains or time constants (the 1st and
1 – 1000 ms 2nd).
[1000]* • Each function/content is similar to the 1st gain/time constraint, described
0 – 6 – earlier.
[0]* • For details on switching of the 1st and 2nd gains or time constants, refer
0 – 2500 0.01ms to Adjustment volume on page 186.
[65]* * Pr11 and Pr19 will be set in terms of (Hz) when Pr20 inertia ratio has
been set correctly.
100 – 1500 Hz • The parameter sets frequency of the resonance suppression notch filter.
[1500] • You should set it about 10% lower than the resonance frequency of the
mechanical system that has been found by the frequency characteristics
analysis facility of the setup assisted software "PANATERMR
• Setting this parameter "1500" would disable the function of notch filter.
0 – 4 – • The parameter sets width of the resonance suppression notch filter in 5
[2] steps. The higher the setting is, the greater the width is.
• Normally, use a factory setting.
[Connections and Settings in Torque Control Mode]
Function/Description
Default setting is shown by [
The smaller the
".
®
147
]