Panasonic A4P Series Power Supply User Manual


 
153
[Adjustment]
Adjustment
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 position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
Velocity feed forward
Feed forward filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd speed detection filter
2nd torque filter time constant
1st notch frequency
1st notch width selection
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
Real time auto tuning set up
Adaptive filter mode
1st vibration suppression frequency
1st vibration suppression filter
2nd vibration suppression frequency
2nd vibration suppression filter
2nd gain action set up
1st control switching mode
1st control switching delay time
1st control switching level
1st control switching hysteresis
Position loop gain switching time
Smoothing filter
FIR filter set up
Servo
Parameter 
No.
(SV.Pr**)
Servo
Parameter 
No.
(SV.Pr**)
Order
1
2
3
4
5
Standard
value
30
50
50
25
300
Title of parameter How to adjust
Servo
Parameter 
No.
(SV.Pr**)
SV.Pr11
SV.Pr14
SV.Pr10
SV.Pr12
SV.Pr15
1st velocity loop gain
1st torque filter time 
constant
1st position loop gain
1st velocity loop 
integration time 
constant
Velocity feed forward
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 SV.Pr11, change this value.
Setup so as to make SV.Pr11 x SV.Pr14 becomes smaller than 10000. If you
want to suppress vibration at stopping, setup larger value to SV.Pr14 and
smaller value to SV.Pr11. If you experience too large vibration right before
stopping, lower than value of SV.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. You can improve by setting up
SV.Pr16 (Feed forward filter time constant) to larger value.
Adjustment in Position Control Mode
Position control of MINAS-A4P series is described in Block diagram of P.224.
Make adjustment in position control per the following procedures.
(1) Set up the following parameters to the values of the table below.
(2) Enter the inertia ratio of SV.Pr20. Measure the ratio or setup the calculated value.
(3) Make adjustment using the standard values below.