Panasonic Minas E Series Instruction Manual page 137

Method of Adjustment in Position Control Mode
(1) Set the following parameters to values listed in the table below:
Parameter No.
Parameter Name
(Pr )
10 1st position loop gain
11 1st velocity loop gain
12 1st velocity loop integration time constant
13 1st speed detection filter
14 1st torque filter time constant
15 Velocity feed forward
16 Feed forward filter time constant
18 2nd position loop gain
19 2nd velocity loop gain
1A 2nd velocity loop integration time constant
1B 2nd speed detection filter
1C 2nd torque filter time constant
1D 1st notch frequency
1E 1st notch width selection
(2) Enter Pr20 inertia ratio. Measure with auto tuning or set a calculated value.
(3) Using the following table as target values, make adjustment.
Parameter No.
Order Parameter Name
(Pr )
1 Pr11 1st velocity loop gain
1st torque filter time
2 Pr14
constant
3 Pr10 1st position loop gain
1st velocity loop
4 integration time
Pr12
constant
5 Pr15 Velocity feed forward
How to Adjust the Internal Velocity Control Mode
Adjustable parameters are velocity loop gain, velocity loop integration time constant, and torque filter time
constant. Make adjustment in according to (3) of "Method of Adjustment in Position Control Mode" described
above, Pr11 1st velocity loop gain, Pr14 1st torque filter time constant, and Pr12 1st velocity loop integration time
constant.
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
Parameter No.
Target
(Pr
Value
27
15
37
0
152
0
0
27
15
37
0
152
1500
2
Target
Value
You can increase a value as far as no abnormal noise/vibration is generated. If
30
abnormal noise is heard, decrease it.
If vibration is generated when you change Pr11, use a different value.
Make a value of Pr11 setting x Pr14 setting smaller than 10000. If you wish to
50
suppress vibration in halt condition, increase Pr14 and decrease Pr11. If
vibration immediately before halt overshoots, decrease Pr14.
Make adjustment while looking at positioning time. If you increase a value,
50
positioning time will be shorter. If you set it too high, oscillation with trembling
will be generated.
OK if there is no abnormal behavior. If you set a lower value, positioning time
will be shorter. However, if you set it too low, oscillation will be generated.
25
When you set it high, in some cases, deviation pulse will be left indefinitely
without being converged.
You can increase a value as far as no abnormal noise/vibration is generated.
If you set too much feed forward, it will lead to generation of overshoot or
chattering of a positioning complete signal, and as a result, stabilization time
300
may not be reduced. If command pulse input is not uniform, you may improve it
by setting Pr16 (feed forward filter) higher.
137
[Gain Adjustment]
Parameter Name
)
20 Inertia ratio
21 Real time auto tuning set-up
2B Damping frequency
2C Damping filter setting
30 2nd gain action set-up
31 Position control switching mode
32 Position control switching delay time
33 Position control switching level
34 Position control switching hysteresis
35 Position loop gain switching time
4C Smoothing filter set-up
4E FIR filter set-up
Interpretation of Adjustment
Target
Value
100
0
0
0
0
0
0
0
0
0
1
0