4-16
Pr1.00
1st gain of position loop
Range
Unit
Default
Related
control mode
0 to 30000
0.1 /s
A,B,
C-
frame:
480
D
to
F-
frame:
320
P
F
You can determine the response of the positional control system.
Higher the gain of position loop you set, faster the positioning time you can obtain.
Note that too high setup may cause oscillation.
Pr1.01
1st gain of velocity loop
Range
Unit
Default
Related
control mode
1 to 32767
0.1 Hz
A,B,
C-
frame:
270
D
to
-
frame:
180
P S T F
Caution
You can determine the response of the velocity loop.
In order to increase the response of overall servo system by setting high position loop gain,
you need higher setup of this velocity loop gain as well. However, too high setup may cause
oscillation.
When the inertia ratio of Pr0.04 is set correctly, the setup unit of Pr1.01 becomes (Hz).
Pr1.02
1st time constant of velocity loop
integration
Range
Unit
Default
Related
control mode
1 to 10000
0.1 ms
A,B,
C-
frame:
210
D
to
F-
frame:
310
P S T F
You can set up the integration time constant of velocity loop.
Smaller the setup, faster you can dog-in deviation at stall to 0.
The integration will be maintained by setting to "9999".
The integration effect will be lost by setting to "10000".
Pr1.03
1st filter of speed detection
Range
Unit
Default
Related
control mode
0 to 5
—
0
P S T F
You can set up the time constant of the low pass filter (LPF) after the speed detection, in 6
steps.
Higher the setup, larger the time constant you can obtain so that you can decrease the
motor noise, however, response becomes slow. Use with a default value of 0 in normal
operation.
Pr1.04
1st time constant of torque filter
Range
Unit
Default
Related
control mode
0 to 2500
0.01 ms
A,B,
C-
frame:
84
D
to
H-
frame:
126
P S T F
You can set up the time constant of the 1st delay filter inserted in the torque command
portion. You might expect suppression of oscillation caused by distortion resonance.
4
1. Details of parameter
Setup
[Class 1] Gain adjustment
Caution
Note
Related page
•
To Panasonic MINAS users: A4 and higher series
CAUTION: Parameter settings shown in this manual may differ from those applied to your
product (s).
• For parameters which No. have a suffix of “
*
”
, changed contents will be validated when
you turn on the control power.
• P.3-32... “Inputs and outputs on connector X4”
Default: [ ]
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