Panasonic MINAS A6N Series, Руководство по эксплуатации

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3-47
Default: [ ]
Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When In T
roubie
7
Supplement
3
4. Details of Parameter
Setup
[Class 1] Gain Adjustment
Caution
Note
Related page
・ To Panasonic MINAS users: A4 and higher series.
Parameter settings shown in this manual may differ from those applied to your product (s).
・
For “ Attribute ”,refer to P.3-38 “ Details of Attribute ”.
・
P.2-47
〜
“ Wiring to the Connector, X4 ”.
Pr1.00 1st gain of position loop
Range Unit Attribute Default
Related
control code
0 to 30000 0.1 /s B
A to C-frame: 480
D to F-frame: 320 P
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 Attribute Default
Related
control code
1 to 32767 0.1 Hz B
A to C-frame: 270
D to F-frame: 180 P S T
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
Attribute
Default
Related
control code
1 to 10000 0.1 ms B
A to C-frame: 210
D to F-frame: 310 P S T
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
Attribute
Default
Related
control code
0 to 5 — B 0 P S T
You can set up the time constant of the low pass filter (LPF) after the speed detection, in 6
steps(0 to 5).
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 Attribute Default
Related
control code
0 to 2500 0.01 ms B
A to C-frame: 84
D to F-frame: 126 P S T
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.