Panasonic MINAS S Series Operating Manual page 54

Åñ1 7 (Internal use)
Åñ1 8 2nd position loop gain
Åñ1 9 2nd velocity loop gain
Åñ1 A 2nd velocity loop integration time constant
2nd speed detection filter
Åñ1 B
2nd torque filter time constant
Åñ1 C
Notch frequency
Åñ1 D
Åñ1 E Notch width selection
Åñ1 F Disturbance torque obserber
Parameter Setting
Parameters for Defining the Real Time Auto Gain Tuning
Parameter
No.
(Pr**)
Åñ2 0 Inertia ratio
Åñ2 1 Real time auto tuning set-up
Åñ2 2 Machine stiffness at auto tuning
(Not available)
Åñ2 3
2 4 ~ 2 F (Internal use)
Parameters for Adjustments (for 2nd Gain)
Parameter
No.
(Pr**)
2nd gain action set-up
Åñ3 0
Position control switching mode
Åñ3 1
Åñ3 2 Position control switching delay time
Position control switching level
Åñ3 3
Åñ3 4 Position control swiching hysteresis
Åñ3 5 Position loop gain switching time
(Not available)
Åñ3 6
Parameter description
Parameter description
------
0 ~ 2000
1 ~ 3500
1 ~ 1000
0 ~ 5
0 ~ 2500
100 ~ 1500
0 ~ 4
0 ~ 8
Range
0 ~ 10000
0 ~ 3
0 ~ 9
-----
-----
Range
0 ~ 1
0 ~ 8
0 ~ 10000
0 ~ 10000
0 ~ 10000
0 ~ 10000
-----
- 53 -
0 ------
1 0 0 1/s
1 0 0 Hz
5 0 ms
4 ------
5 0 0.01ms
1 5 0 0 Hz
2 ------
8 ------
Default Unit
1 0 0 %
0 -----
2 -----
1 0 0 -----
0 -----
Default Unit
0 -----
0 -----
0 166µs
0 -----
0 -----
(1 +
0
Setting
value)
x166µs
0 -----