Panasonic MINAS-BL GP series Instructions Manual page 21

Parameter
Effective
Parameter
after Setting
No. Name of parameter
power range
(Pr□□)
resetting
The 4th
1b 0 to 4000 2000
setting speed
The 4th
1C 1 to 30000 200
acceleration time
The 4th
1d 1 to 30000 200
deceleration time
The 4th block
1E 0, 1
setting
The 4th block
1F 0 to 30000
timer setting
20 Acceleration mode 0, 1
21 Deceleration mode 0, 1
Sequential run
1 to 4
22
maximum point number
Coordinate system
23 ○ 0, 1
setting
Position loop gain
28 0 to 100
(the 1st gain)
Velocity loop gain
29 0 to 10000 1000
(the 1st gain)
Velocity loop
2A integration gain 0 to 10000 500
(the 1st gain)
Velocity feed
2b forward gain 0 to 100
(the 1st gain)
Default Description
You can set the speed moving to the 4th
point. Setting unit [r/min]
You can set time taken for reaching the 4th
setting speed. Setting unit [ms]
You can set time taken from the 4th setting
speed to stop. Setting unit [ms]
0: Normal operation
1: Continuous block operation
0
(4th point → 1st point )
Enabled when you set Pr1E to "1".
Start commanding of 1st point after this set-
0 ting time elapses and command of 4th point
is completed. Enabled in unit of 2 ms.
Setting unit [ms]
You can select running pattern in acceleration.
0 0: Linear
1: S-Pattern (Setting common to all points)
You can select running pattern in deceleration.
0 0: Linear
1: S-Pattern (Setting common to all points)
You can set the maximum point number for
4
positioning by use of sequential run signal.
0: CCW rotation in + direction
0
1: CW rotation in + direction
You can determine the response of position
control. You need not change it normally.
When it is increased, the response is im-
5
proved, which is likely to cause oscillation.
(The 1st gain: When gain switching is used,
the 1st gain is the gain at stop.)
You can determine the response of velocity
loop. You need not change it normally. When
it is increased, the response is improved,
which is likely to cause oscillation.
You can determine the rigidity of velocity
loop. You need not change it normally. When
it is increased, the rigidity is improved, which
is likely to cause oscillation.
Set it to 0 in normal use. This is the function
to forward (add) position command to speed
command.When the setting is increased, the
0
position error is decreased and response
improved, which makes overshoot large.
Setting unit [%]
－ 40 －
Effective
Parameter
after Setting
No. Name of parameter
power range
(Pr□□)
resetting
Speed detection filter
2C 5 to 20
(the 1st gain)
Velocity feed forward
time constant
2d 0 to 500
(Common to the
1st/2nd gain)
Torque limit setting
2E 50 to 150 150
(the 1st gain)
Torque filter time
constant
2F 0 to 500
(Common to the
1st/2nd gain)
The 2nd position loop
30 gain 0 to 100
(the 2nd gain)
The 2nd velocity loop
31 gain 0 to 10000 1000
(the 2nd gain)
The 2nd velocity loop
32 integration gain 0 to 10000 500
(the 2nd gain)
The 2nd velocity feed
33 forward gain 0 to 100
(the 2nd gain)
The 2nd speed
34 detection filter 5 to 20
(the 2nd gain)
The 2nd torque limit
35 setting 50 to 150 150
(The 2nd gain)
Gain switching mode
36 0 to 2
selection
Default Description
Use the default setting normally.
You can set the time constant of low-pass
filter of speed feedback. When the setting is
13
made smaller, the gain can be made larger
and response improved, which increases
operation noise.
Set it at 0 in normal use. This is a filter in ve-
locity feed forward section. When the setting
0
is made larger, the time constant is made
larger. Setting unit [ms]
Output torque of motor is limited. Set it in
[%] with reference to rated torque. (Torque
value has no precision because torque is not
controlled. Use it as an index.)
You can set the time constant of primary
delay filter of torque instruction. You need
0 not change it normally. You can suppress
oscillation due to insufficient rigidity of load.
Setting unit [ms]
You can determine the response of posi-
5 tion control. (The 2nd gain: When using gain
switching, the 2nd gain is the gain in running.)
You can determine the response of velocity
loop.
You can determine the rigidity of velocity
loop.
Set it at 0 in normal use.
0
Setting unit [%]
Use the default setting normally.
13 You can set the time constant of low-pass
filter in speed feedback.
Output torque of the motor is limited. Set it in
[%] with reference to rated torque. (Torque
value has no precision because torque is not
controlled. Use it as an index.)
0: Fixed at the 1st gain
1: Fixed at the 2nd gain
0
2: Automatic switching (In running = the 2nd
gain, In standstill = the 1st gain)
－ 41 －