Gain Adjustment - Panasonic MINAS A5-series Operating Instructions Manual

1. Details of parameter
[Class 1] Gain adjustment
Title
Pr1.05
Range
Title
Pr1.06
Range
Title
Pr1.07
Range
Title
Pr1.08
Range
Title
Pr1.09
Range
Position loop, velocity loop, speed detection filter and torque command filter have their 2
pairs of gain or time constant (1st and 2nd).
Related page For details of switching the 1st and the 2nd gain or the time constant, refer to P.5-17 "Gain
Switching Function" of Adjustment.
The function and the content of each parameter is as same as that of the 1st gain and time
constant.
Title
Pr1.10
Range
Multiply the velocity control command calculated according to the internal positional
command by the ratio of this parameter and add the result to the speed command resulting
from the positional control process.
Title
Pr1.11
Range
Set the time constant of 1st delay filter which affects the input of velocity feed forward.
<Usage example of velocity feed forward>
The velocity feed forward will become effective as the velocity feed forward gain is gradually
increased with the velocity feed forward filter set at approx. 50 (0.5 ms). The positional
deviation during operation at a constant velocity is reduced as shown in the equation below
in proportion to the value of velocity feed forward gain.
Positional deviation [unit of command] = command speed [unit of command/s] /
Note • For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
Related page
• P.3-30... "Inputs and outputs on connector X4"
2nd gain of position loop
0 to 30000
2nd gain of velocity loop
1 to 32767
2nd time constant of velocity loop integration
1 to 10000
2nd filter of speed detection
0 to 5
2nd time constant of torque filter
0 to 2500
Velocity feed forward gain
0 to 1000
Velocity feed forward filter
0 to 6400
positional loop gain [1/s] × (100 - velocity feed forward gain [%]) / 100
Related
control mode
0.1/s
Unit Default
Related
control mode
0.1Hz
Unit Default
Related
control mode
0.1ms
Unit Default
Related
control mode
—
Unit Default
Related
control mode
0.01ms
Unit Default
Related
control mode
0.10%
Unit Default
Related
control mode
0.01ms
Unit Default
1
P S T F
570
A,B,C-frame
380
D,E,F-frame
2
P S T F
270
A,B,C-frame
180
D,E,F-frame
P S T F
10000
P S T F
0 3
P S T F
84
A,B,C-frame
126
D,E,F-frame
4
P S T F
300
5
P S T F
50
6
7
4-13