Panasonic MINAS-A5BL Series Manual page 125

At-
Class No. trib-
ute *1)
6 49 B tuning filter
6 50 B
compensating
2nd Viscous
6 71 B
compensating
*1) For the parameter attributes, refer to Section 9-1.
R1.00
Title Range
Command /
0∼99
damping
Viscous
0.1%/
friction
0∼10000 (10000
r/min)
gain
0.1%/
friction
0～10000
(10000
r/min)
gain
Unit
Set the damping of the command filter and tuning filter.
The first digit is set for the command filter and the second digit is
for the tuning filter in decimal notation.
Effective digits
0 to 4: No damping (Operates as a primary filter)
5 to 9: Secondary filter (The damping ζ will be 1.0, 0.86, 0.71,
-
0.50 and 0.35 respectively.)
Ex) To obtain ζ=1.0 for the command filter and ζ=0.71 for the
tuning filter 1, set the value to 75 (1st digit=5 (ζ=1.0), 2nd
digit=7(ζ=0.71)).
Please note that for the time constant of the command filter,
Pr2.22 "Positional command smoothing filter" will be applied.
The command speed is multiplied by this set value to obtain a
compensation amount that will be added to the torque command.
- By setting the estimated value of viscous friction coefficient for
real-time auto tuning, you may be able to obtain improvements
with the feedback scale positional deviation at near stability.
Sets the 2nd viscous friction compensating gain
The unit is [rated torque 0.1%/ (10000 r/min)].
No. SX-DSV02829 -
Function
Motor Business Unit, Panasonic Corporation
119-