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[Adjustment]
Adjustment
Adjustment in Position Control Mode
Position control of MINAS-A4 series is described in Block diagram of P.82.
Make adjustment in position control per the following procedures.
(1) Set up the following parameters to the values of the table below.
10
11
12
13
14
15
16
18
19
1A
1B
1C
1D
1E
Standard
value
27
15
37
0
152
0
0
27
15
37
0
152
1500
2
Title of parameter
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter time
Velocity feed forward
Time constant of feed forward filter
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Selection of 1st notch frequency
Selection of 1st notch width
20
21
23
2B
2C
2D
2E
30
31
32
33
34
35
4C
4D
Standard
value
100
0
0
0
0
0
0
0
0
0
0
0
0
1
0
Title of parameter
Inertia ratio
Setup of real time auto-gain tuning mode
Adaptive filter setup mode
1st damping frequency
Setup of 1st damping filter
2nd damping frequency
Setup of 2nd damping filter
2nd gain setup
Mode of position control switching
Delay time of position control switching delay
Level of position control switching
Hysteresis at position control switching
Position gain switching time
Setup of smoothing filter
Setup of FIR filter
Parameter
No.
(Pr )
Parameter
No.
(Pr )
(2) Enter the inertia ratio of Pr20. Measure the ratio or setup the calculated value.
(3) Make adjustment using the standard values below.
Order
1
2
3
4
5
Standard
value
30
50
50
25
300
Title of parameter
Parameter
No.
(Pr )
Pr11
Pr14
Pr10
Pr12
Pr15
1st gain of
velocity loop
1st time constant of
torque filter
1st gain of
position loop
1st time constant of
velocity loop
integration
Velocity feed forward
How to adjust
Increase the value within the range where no abnormal noise and no vibration
occur. If they occur, lower the value.
When vibration occurs by changing Pr11, change this value.
Setup so as to make Pr11 x Pr14 becomes smaller than 10000. If you want to
suppress vibration at stopping, setup larger value to Pr14 and smaller value to
Pr11. If you experience too large vibration right before stopping, lower than
value of Pr14.
Adjust this observing the positioning time. Larger the setup, faster the
positioning time you can obtain, but too large setup may cause oscillation.
Setup this value within the range where no problem occurs. If you setup
smaller value, you can obtain a shorter positioning time, but too small value
may cause oscillation. If you setup too large value, deviation pulses do not
converge and will be remained.
Increase the value within the range where no abnormal noise occurs.
Too large setup may result in overshoot or chattering of position complete
signal, hence does not shorten the settling time. If the command pulse is not
even,you can improve by setting up Pr16 (Feed forward filter) to larger value.
Adjustment in Velocity Control Mode
Velocity control of MINAS-A4 series is described in Block Diagram of P.126 of Velocity Control Mode.
Adjustment in velocity control is almost same as that in position control described in "Adjustment in Position
Control Mode", and make adjustments of parameters per the procedures except the gain setup of position
loop and the setup of velocity feed forward.