Panasonic MINAS A5-series Operating Instructions Manual page 239

2. Real-Time Auto-Gain Tuning
Basic
Basic gain parameter setup table
Pr1.00 Pr1.01
Gain of Gain of
Stiffness
position velocity
loop loop
[0.1/s] [0.1Hz]
0 20
1 25
2 30
3 40
4 45
5 55
6 75
7 95
8 115
9 140
10 175 140
11 320 180
12 390 220
13 480 270
14 630 350
15 720 400
16 900 500
17 1080 600
18 1350 750
19 1620 900
20 2060 1150
21 2510 1400
22 3050 1700
23 3770 2100
24 4490 2500
25 5000 2800
26 5600 3100
27 6100 3400
28 6600 3700
29 7200 4000
30 8100 4500
31 9000 5000
*1
Stiffness setting of A4 series refers to the setup value (0-15) of A4 series parameter Pr22 Real-time
auto-tuning machine stiffness selection.
*2
When 17-bit absolute encoder, limited by the minimum value 10.
Note
• For details of parameters, refer to P.4-12 "Details of parameter".
• Download the A4 series manual from the web site shown below.
http://industrial.panasonic.com/jp/i/25000/motor_fa/motor_fa.html
1st gain
Pr1.02 Pr1.04
Time
Time
constant
constant
of velocity
of torque
loop
filter
integration
[0.01ms]
[0.1ms]
15 3700 1500
20 2800 1100
25 2200 900
30 1900 800
35 1600 600
45 1200 500
60 900 400
75 700 300
90 600 300
110 500 200
400 200
310 126
250 103
210 84
160 65
140 57
120 45
110 38
90 30
80 25
70 20
60 16
50 13
40 11
40 9
35 8
30 7
30 7
25 6
25 6
20 5
20 5
2nd gain
Pr1.05 Pr1.06
*2
Gain of Gain of
position velocity of velocity
loop loop
[0.1/s] [0.1Hz] integration
25 15
30 20
40 25
45 30
55 35
70 45
95 60
120 75
140 90
175 110
220 140
380 180
460 220
570 270
730 350
840 400
1050 500
1260 600
1570 750
1880 900
2410 1150
2930 1400
3560 1700
4400 2100
5240 2500
5900 2800
6500 3100
7100 3400
7700 3700
8400 4000
9400 4500
10500 5000
A4
Pr1.07 Pr1.09
*2
Series
Time
Time
Stiffness
constant
constant
setup
of torque
(reference)
loop
filter
*1
[0.01ms]
[0.1ms]
10000 1500 —
10000 1100 —
10000 900 —
10000 800 —
10000 600 —
10000 500 —
10000 400 —
10000 300 —
10000 300 0
10000 200 —
10000 200 —
10000 126 1
10000 103 2
10000 84 3
10000 65 4
10000 57 5
10000 45 6
10000 38 7
10000 30 8
10000 25 9
10000 20 10
10000 16 11
10000 13 12
10000 11 13
10000 9 14
10000 8 —
10000 7 15
10000 7 —
10000 6 —
10000 6 —
10000 5 —
10000 5 —
1
2
3
4
5
6
7
5-9