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[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Parameters Which Are Automatically Set Up.
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
PrNo.
11
12
13
14
19
1A
1B
1C
20
Title
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Inertia ratio
PrNo.
30
31
32
33
34
36
1
0
30
50
33
0
Title Setup value
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
2nd mode of control switching
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change parameters which are automatically
adjusted.
• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain
Tuning Mode) is 1 to 6, and becomes 0 in other cases.
Cautions
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or
when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until
load inertia is identified (estimated) or adaptive filter is stabilized, however, these are not failures as long
as they disappear immediately. If they persist over 3 reciprocating operations, take the following mea-
sures in possible order.
1)Write the parameters which have given the normal operation into EEPROM.
2)Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).
3)Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0,
then set up other value than 0. (Reset of inertia estimation and adaptive action)
4)Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode setup) to 0, and set up
notch filter manually.
(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might
have changed to extreme values. Take the same measures as the above in these cases.
(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency)
will be written to EEPROM every 30 minutes. When you turn on the power again, auto-gain tuning will be
executed using the latest data as initial values.
(4) When you validate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be
invalidated automatically.
(5) The adaptive filter is normally invalidated at torque control, however, when you select torque control
while you set up Pr02 (Control mode setup) to 4 and 5, the adaptive filter frequency before mode switch-
ing will be held.
(6) During the trial run and frequency characteristics measurement of "PANATERM
®
", the load inertia esti-
mation will be invalidated.