Panasonic MINAS S-series Operating Manual page 57

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.
Suppress
the vibration by
lowering the gain
Parameter No. Parameter description
P r 1 0 1st position loop gain
P r 1 1 1st velocity loop gain
P r 1 2 1st velocity loop
integration time constant
P r 1 3 1st velocity detection filter
P r 1 4 1st torque filter time
c o n s t a n t
P r 1 8 2nd position loop gain
P r 1 9 2nd position loop gain
P r 2 0 Inertia ratio
P r 3 0 2nd gain operation set-up
P r 3 1 Position control changeover mode
P r 1 A 2nd velocity loop
integration time constant
P r 1 B 2nd velocity detection filter
P r 1 C 2nd torque filter time
c o n s t a n t
<Notes>
For setting parameters for other control modes, see Appendix.
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
5 0
0
V a l u e s a m e a s t h e
2nd torque filter time
c o n s t a n t
5 0
3 0
1
7
1 0 0 0
0
5 0
- 57 -
Stop
Run
(servo-lock)
Higher gain Lower gain
(2nd gain) (1st gain)
1ms 2ms
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