Parameters For Adjustment Of Time Constant Of Gains And Filters - Panasonic minas a4 series Instruction Manual

PrNo. Title
0D Baud rate setup of
*
RS485
communication
0E Setup of front
*
panel lock
Parameters for Adjustment of Time Constants of Gains and Filters
PrNo. Title
10 1st gain of
position loop
11 1st gain of
velocity loop
12 1st time constant
of velocity loop
integration
13 1st filter of
speed detection
14 1st time constant of
torque filter
15 Velocity feed
forward
16 Time constant of
feed forward filter
<Notes>
• For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
• Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
[Connection and Setup of Full-closed Control]
Setup
range
0 to 5 You can set up the communication speed of RS485.
<2>
Setup value
0
1
<2>
You can limit the operation of the front panel to the
0 to 1
monitor mode only.
<0>
You can prevent such a misoperation as unexpec-
ted parameter change.
<Note>
You can still change parameters via communication even though this setup is 1.
To return this parameter to 0, use the console or the "PANATERM
Setup
Unit
range
0 to 3000 1/s You can determine the response of the positional control system.
A to C-frame:<63>* Higher the gain of position loop you set, faster the positioning time you
D to F-frame:<32>* can obtain. Note that too high setup may cause oscillation.
1 to 3500 Hz You can determine the response of the velocity loop.
A to C-frame:<35>* In order to increase the response of overall servo system by setting high
D to F-frame:<18>* position loop gain, you need higher setup of this velocity loop gain as well.
However, too high setup may cause oscillation.
<Caution>
When the inertia ratio of Pr20 is set correctly, the setup unit of Pr11
becomes (Hz).
1 to 1000 ms You can set up the integration time constant of velocity loop.
A to C-frame:<16>* Smaller the setup, faster you can dog-in deviation at stall to 0.
D to F-frame:<31>* The integration will be maintained by setting to "999".
The integration effect will be lost by setting to "1000".
You can set up the time constant of the low pass filter (LPF) after the
0 to 5 –
speed detection, in 6 steps.
<0>*
Higher the setup, larger the time constant you can obtain so that you can
decrease the motor noise, however, response becomes slow. Use with a
default value of 0 in normal operation.
0 to 2500 0.01ms You can set up the time constant of the 1st delay filter inserted in the
A to C-frame:<65>* torque command portion. You might expect suppression of oscillation
D to F-frame:<126>* caused by distortion resonance.
–2000 0.1% You can set up the velocity feed forward volume at position control.
to 2000 Higher the setup, smaller positional deviation and better response you can
<300>* obtain, however this might cause an overshoot.
0 to 6400 0.01ms You can set up the time constant of 1st delay filter inserted in velocity feed
<50>* forward portion.
You might expect to improve the overshoot or noise caused by larger
setup of above velocity feed forward.
Function/Content
Baud rate Setup value
2400bps 3
4800bps
4
9600bps 5
Function/Content
Standard default : < >
• Error of baud rate is ±0.5%.
Baud rate
19200bps
38400bps
57600bps
Content
Setup value
<0> Valid to all
Monitor mode only
1
® ".
Standard default : < >
211