Panasonic MINAS A5-series Operating Instructions Manual page 259

5. Manual Gain Tuning (Application)
Instantaneous Speed Observer
Related Parameter
Class No.
6 10
How to Use
(1) Setup of inertia ratio (Pr0.04)
Set up as exact inertia ratio as possible.
• When the inertia ratio (Pr20) is already obtained through real-time auto-gain tuning
and is applicable at normal position control, use this value as Pr20 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 (Pr6.10)
• By enabling instantaneous speed observer function through function expansion
setup (Pr6.10), the speed detection method changes to the instantaneous speed
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 wave-
form and noise, search an optimum setup by making a fine adjustment of Pr0.04
(Inertia ratio) while observing the position deviation waveform and actual speed
waveform to obtained the least variation. If you change the position loop gain and
velocity loop gain, the optimum value of the inertia ratio (Pr0.04) might have been
changed, and you need to make a fine adjustment again.
Title
Speed observer enable bit (bit 0) valid/invalid the
Function expansion function.
setup bit0 0: Invalid
* bit 0 = LSB
Function
1: Valid
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