Panasonic minas a series - Page 63

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Adjustment
How to improve the response further
You can manually adjust the 2nd gain.
With the 2nd gain adjustment, you can expect quicker response.
<Example>
When you want to reduce the noise produced during the stopping (servo-locking), you set the lower
gain after the motor stops.
<Notes> For setting parameters for other control modes, see Appendix.
1st Gain 2nd Gain
Pr10
Pr11
Pr12
Pr13
Pr14
1st Position Loop Gain
1st Velocity Loop Gain
1st Velocity Integration Time Constant
1st Speed Detection Filter
1st Torque Filter Time Constant
Pr18
Pr19
Pr1A
Pr1B
Pr1C
2nd Position Loop Gain
2nd Velocity Loop Gain
2nd Velocity Integration Time Constant
2nd Speed Detection Filter
2nd Torque Filter Time Constant
Parameters to be set-up Set-up value Description
Pr30
Pr31
Pr32
Pr35
Pr10
Pr11
Pr12
Pr13
Pr14
Pr18
Pr19
Pr1A
Pr1B
Pr1C
2nd gain action set-Up
Position control switching mode
Position control switching delay time
Position loop gain switching time
1st position loop gain
1st velocity loop gain
1st velocity integration time constant
1st speed detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity integration time constant
2nd speed detection filter
2nd torque filter time constant
1
7
12
5
Switches to 2nd gains
Switches to 2nd gains, if a position command is entered
Returns to 1st gains if "no command" status
(no command pulse is entered for166µ s)
lasts 2 ms.
Shift from lower gain to higher gain at posi-
tion control in a step of ((5+1)x166µs=1ms).
The set-up value should be smaller than the
difference between Pr10 and Pr18.
You can set the gains at the motor standstill.
You can set the gains during run.