Panasonic MINAS-A5BL Series Manual page 117

(2) Cautions
□ This function does not work properly or no effect is obtained under the following conditions.
Load
Others
(3) Parameters
At-
Class No. trib-
ute *1)
Function
6 10 B
expansion setup
*1) For parameter attribute, refer to Section 9-1.
(4) How to Use
(1) Setup of inertia ratio (Pr 0.04)
Set up as exact inertia ratio as possible.
• When the inertia ratio (Pr 0.04) is already obtained through real-time auto-gain tuning and is applicable at
normal position control, use this value as Pr 0.04 setup value.
• When the inertia ratio is already known through calculation, enter this calculated value.
• When the inertia ration is not known, execute the normal mode auto-gain tuning and measure the inertia ratio.
(2) Adjustment at normal position control
• Adjust the position loop gain, velocity loop gain, etc.
(3) Setup of instantaneous velocity observer (Pr 6.10)
• By enabling instantaneous velocity observer function through function expansion setup (Pr 6.10), the velocity
detection method changes to the instantaneous velocity observer.
• When you experience a large variation of the torque waveform or noise, return this to 0, and reconfirm the
above cautions and (1).
• When you obtain the effect such as a reduction of the variation of the torque waveform and noise, search an
optimum setup by making a fine adjustment of Pr 0.04 (inertia ratio) while observing the position deviation
waveform and actual velocity waveform to obtain the least variation. If you change the position loop gain and
velocity loop gain, the optimum value of the inertia ratio (Pr 0.04) might have been changed, and you need to
make a fine adjustment again.
R1.00
Conditions which obstruct instantaneous velocity observer action
• Gap between the estimated total load inertia (motor+load) and actual machine is large.
e.g.) Large resonance point exists in frequency band of 300 [Hz] or below. Non-linear factor
such as large backlash exists.
• Load inertia varies.
• Disturbance torque with harmonic component is applied.
• Settling range is very small.
Title Range
0–1023
Unit
Velocity observer enable bit (bit 0) valid/invalid the function.
— bit 0 0: Invalid 1: Valid
* bit 0 = LSB
No. SX-DSV02829 -
Function
Motor Business Unit, Panasonic Corporation
111-