Panasonic MADDT1207 Technical Reference page 32

4. Parameter
Parameters for Adjustment of Time Constant for Gains and Filters
Parameter
Set up of parameter
No.
(Pr )
18 2nd gain of position loop
19 2nd gain of velocity loop
1A 2nd Time constant of velocity loop integration
1B 2nd filter of velocity detection
1C 2nd torque filter time constant
1D 1st notch frequency
1E Selection of 1st notch width
1F (For manufacturer's use)
27 Setup of instantaneous velocity observer
28 2nd notch frequency
29 Selection of 2nd notch width
2A Selection of 2nd notch depth
2B 1st damping frequency
2C Setup of 1st damping filter
2D 2nd damping frequency
2E Setup of 2nd damping filter
Parameters for Auto-Gain Tuning
Parameter
Set up of parameter
No.
(Pr )
20 Inertia ratio
21 Setup of real-time auto-gain tuning mode
22 Mechanical stiffness at real-time auto-gain tuning
23 Setup of adaptive filter mode
24 Selection of damping filter switching
25 Setup of action at normal mode auto-gain tuning
26 Setup of software limit
2F*2 Adaptive filter frequency
*2 this parameter will be automatically set up when the adaptive filter is validated (Pr23,
"Setup of adaptive filter mode" is "1", and you cannot set this up at your discretion.
Set up Pr23, "Setup of adaptive filter mode" to "0" (invalid) to clear this parameter.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control,
P/S : Position (1st),/Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control,
S/T : Velocity (1st)/Torque (2nd) control.
Default
Range
A to
C-frame
0 to 3000 <73> <38>
1 to 3500 <35> <18>
1 to 1000 <1000>
0 to 5 <0>
0 to 2500 <65> <126>
100 to 1500 1500
0 to 4 2
– –
0 to 1 <0>
100 to 1500 1500
0 to 4 2
0 to 99 0
0 to 2000 0
–200 to 2000 0
0 to 2000 0
–200 to 2000 0
Default
Range
A to
C-frame
0 to 10000 <250>
0 to 7 1
0 to 15 4
0 to 2 1
0 to 2 0
0 to 7 0
0 to 1000 10
0 to 64 0
– B32 –
Related control
Unit
D to mode
F-frame
1/s P, F
Hz
ms
–
0.01ms
Hz
–
–
– P, S
Hz
–
–
0.1Hz P, F
– P, F
0.1Hz P, F
– P, F
Related control
Unit
D to mode
F-frame
%
–
1 –
– P, S, F
– P, F
–
0.1rev P, F
– P, S, F
all
all
all
all
all
all
–
all
all
all
all
all
all
all