Panasonic MDDDT5540P Power Supply User Manual


 
- App.21 -
Appendixes
Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning
PrNo. Parameter
Value
Function
You can define the response characteristics of position
control. Higher the gain you set, quicker the in-position
time you can obtain.
To obtain the overall response of the servo system
together with the above position gain, set this gain as
large as possible.
*
If Pr20 (inertia ratio) has been set correctly, the unit of
values of Pr11 and Pr 19 is Hz.
• Integration element of the velocity loop. The
smaller the setting, the quicker you can reduce
the velocity error to
0.
• The integration is disabled by setting this at
1,000.
• You can set-up the time constant of low-pass
filter(LPF) in 6 stages(0 to 5), which is inserted
after the block , and which converts the encoder
signal to the velocity signal.
• Normally, use the default (4).
If set value is smaller, the motor noise increases. But, the time
constant becomes smaller and also the phase lag becomes smaller.
Thus, you can set-up larger. Sudden setting of small value may cause
oscillation to damage machine. Be careful in setting.
• You can set-up the time constant of the primary delay filter that is
inserted to the torque command portion.
• Use this function to suppress the oscillation caused by torsion
resonance.
You can set-up the amount of velocity feed forward at
position control. Position error becomes almost 0 while
the motor runs at a constant speed, by setting this to
100%. The higher the setting you make, the quicker
the response you can obtain with smaller position error,
however, it may cause overshoot.
You can set-up the time constant of the primary delay filter that is
inserted to the velocity feed forward portion.
Use this function to reduce the over and undershoot of the
speed, chattering of the in-position signal.
10
11
12
13
14
15
16
1st position
loop gain
1st velocity
loop gain
1st speed
detection
filter
Feed forward
filter time
constant
10 ~
2000
[ 50 ]
1 ~
3500
[ 100 ]
1 ~
1000
[ 50 ]
0 ~ 5
[ 4 ]
0 ~
2500
[ 50 ]
0 ~
100
[ 0 ]
0 ~
6400
[ 0 ]
1/s
Hz
*
ms
-----
0.01ms
%
0.01ms
1st velocity
loop integration
time constant
1st torque filter
time constant
Velocity feed
forward
Unit