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11-4-1 Tuning of position control mode
Position control system of the MINAS-A4 series is as shown in the following block diagram.
In this section, the basic tuning procedure circled with double frame, in which parameter is used
but gain switching is not used, will be described.
Position
Point
command
FIR
command/RS485
smoothing
communication
Number of
Pr.4D
times in
moving
average
Primary delay
smoothing
Pr.4C
Selection
Division
Pr.44
Numerator
Feedback pulse
Pr.45
Denominator
OA／OB／OZ
Pr.46
Selection
[1] Initial setting of parameter
Return the parameter to the preset value before
shipment.
- In case that vibration occurs with the preset value before shipment, reduce the 1st velocity loop
gain (Servo parameter No.11) and the 1st position loop gain (Servo parameter No.10) by the
same value.
[2] Setting of inertia ratio
Set up the inertia ratio (Servo parameter No.20).
- When the inertia ratio (Servo parameter No.20) has been obtained by the real time auto gain
tuning, use the Servo parameter No.20 set value as it is.
- When the inertia ratio is known by means of calculation etc, input the calculated value.
- When the inertia ratio is unknown, execute the normal mode auto gain tuning to measure the
inertia. After the measurement, since the control gain also has been altered, return to the step
[1] and carry out initial setting of the parameter.
[3] Upper limit search of speed loop gain
Increase the 1st velocity loop gain (Servo parameter No.11) by 10-increment.
- At this time, increase the 1st position loop gain (Servo parameter No.10) also to the same
value as the 1st velocity loop gain (Servo parameter No.11).
- When vibration begins to be generated, proceed to step [4] Setting of notch filter.
- When vibration occurs, decrease the 1st velocity loop gain (Servo parameter No.11) promptly,
and then decrease the 1st position loop gain (Servo parameter No.10) to the same value as Servo
parameter No.11, and proceed to step [4].
A4P
Speed feed
forword
Vibration
suppression control
Pr.15
Gain
Pr.2B
1st frequency
Pr.16
Filter
Pr.2C
1st filter
Pr.2D
2nd frequency
Position control
Pr.2E
2nd filter
＋
Pr.10
1st
−
Pr.18
2nd
Position
deviation
monitor
Command
speed
monitor
Position control block diagram
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD
＋
Speed control
＋
＋
Pr.11
1st ratio
1st frequency
1st
Pr.12
−
integration
1st width
Pr.19
2nd ratio
2nd frequency
2nd
Pr.1A
integration
2nd width
Pr.20
Inertia ratio
2nd depth
Speed
Adaptation
detection filter
Pr.13
1st
第１
第２
Pr.1B
2nd
Actual speed
monitor
Speed detection
No. SR-DSV09485
Torque
command
monitor
Notch filter
Torque filter
Pr.1D
Pr.14
Motor
1st time constant
2nd time
Pr.1E
Pr.1C
constant
Pr.28
Pr.5E
1st limit
Pr.29
Pr.5F
2nd limit
Pr.2A
Pr.2F
Encoder
Serial
communication
data
Encoder receive
processing
- 101 -
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