Panasonic MINAS A5-series Operating Instructions Manual page 191

1. Details of parameter
[Class 2] Damping control
Title
Pr2.22
Range
• Set up the time constant of the 1st delay filter in response to the positional command.
• When a square wave command for the target speed Vc is applied, set up the time constant
of the 1st delay filter as shown in the figure below.
Speed
[r/min]
Vc
Vc×0.632
Vc×0.368
*1 Actual filter time constant (setup value × 0.1 ms) has the maximum absolute error of 0.2 ms for a time
constant below 100 ms and the maximum relative error of 0.1% for a time constant 20 ms or more.
*2 Switching of Pr2.22 Positional command smoothing filter is performed on the rising edge of the command
with the number of command pulses/0.166 ms is changed from 0 to a value other than 0 while the
positioning complete is being output.
If the filter time constant is decreased and positioning complete range is increased, and a many number
of plusses are accumulated in the filter (the area equivalent of "value of positional command filter - value
of positional command after filter" integrated over the time), at the time of switching, these pulses are
discharged at a higher rate, causing the motor to return to the previous position - the motor runs at a
speed higher than the command speed for a short time.
*3 Even if Pr2.22 Positional command smoothing filter is changed, it is not applied immediately. If the
switching as described in *2 occurs during this delay time, the change of Pr2.22 will be suspended.
Title
Pr2.23
Range
• Set up the time constant of the 1st delay filter in response to the positional command.
• When a square wave command of the target speed Vc is applied, set up the VC arrival
time as shown in the figure below.
Speed
[r/min]
Vc
*1 The actual average travel time (setup value × 0.1 ms) has the maximum absolute error of 0.1 ms for a
time constant below 10 ms and the maximum relative error of 1.6% for a time constant 10 ms or more.
*2 When changing Pr2.23 Positional command FIR filter, stop the command pulse and wait until the filter
switching wait time has elapsed. The filter switching wait time is the setup value × 0.1 ms + 0.25 ms
when the setup time is 10 ms, and setup value × 0.1 ms × 1.05 when the setup time is 10 ms or more. If
Pr2.23 is changed while the command pulse is being input, the change is not reflected until the command
pulse-less state has continued for the filter switching wait time.
*3 Even if Pr2.23 Positional command FIR filter is changed, it is not applied immediately. If the switching as
described in *2 occurs during this delay time, the change of Pr2.23 will be suspended.
Positional command smoothing filter
0 to 10000
Positional command before filter
Positional command after filter
Positional command smoothing
*1
filter setup time [ms]
(Pr2.22 × 0.1 ms)
*1
Positional command FIR filter
0 to 10000
Positional command before filter
Positional command after filter
Positional command
smoothing filter setup
time [ms]
(Pr2.23 × 0.1 ms)
Related
control mode
0.1ms
Unit Default
Filter switching
waiting time
Time
Related
control mode
0.1ms
Unit Default
Filter switching
waiting time
*2
*1
Time
P S T F
0
*2
P S T F
0
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