Panasonic MINAS A6 Series - Page 219

4-17
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
•Aparameterisdesignatedasfollows:
Pr0.00
Parameter No.Class
•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”
1. Details of parameter
[Class 1] Gain adjustment
Pr1.05
2nd 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
Pr1.06
2nd gain of velocity loop
Range Unit Default
Related
control mode
1 to 32767 0.1 Hz
A,B, C - frame: 270
D
to
F- frame: 180
P S T F
Pr1.07
2nd 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:3 10
P S T F
Pr1.08
2nd filter of speed detection
Range Unit Default
Related
control mode
0 to 5 — 0 P S T F
Pr1.09
2nd time constant of torque filter
Range Unit Default
Related
control mode
0 to 2500 0.01 ms
A,B, C - frame: 84
D
to
F- frame: 126
P S T F
Related page
Positionloop,velocityloop,speeddetectionlterandtorquecommandlterhavetheir2
pairsofgainortimeconstant(1stand2nd).
Fordetailsofswitchingthe1standthe2ndgainorthetimeconstant,refertoP.5-34"Gain
SwitchingFunction"ofAdjustment.
The function and the content of each parameter is as same as that of the 1st gain and time
constant.
Pr1.10
Velocityfeedforwardgain
Range Unit Default
Related
control mode
0 to 4000 0.1 % 1000 P F
Multiplythevelocitycontrolcommandcalculatedaccordingtotheinternalpositional
command by the ratio of this parameter and add the result to the speed command resulting
from the positional control process.
Pr1.11
Velocityfeedforwardfilter
Range Unit Default
Related
control mode
0 to 6400 0.01 ms 0 P F
Setthetimeconstantof1stdelaylterwhichaffectstheinputofvelocityfeedforward.
<Usageexampleofvelocityfeedforward>
Thevelocityfeedforwardwillbecomeeffectiveasthevelocityfeedforwardgainisgradually
increasedwiththevelocityfeedforwardfiltersetatapprox.50(0.5ms).Thepositional
deviationduringoperationataconstantvelocityisreducedasshownintheequationbelow
inproportiontothevalueofvelocityfeedforwardgain.
Positionaldeviation[unitofcommand]=commandspeed[unitofcommand/s]/
positionalloopgain[1/s]×(100-velocityfeedforwardgain[%])/100
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