Panasonic MINAS A6 Series - [Class 1] Gain Adjustment

4-18
Pr1.12
Torquefeedforwardgain
Range Unit Default
Related
control mode
0 to 2000 0.1 % 1000 P S F
•Multiplythetorquecommandcalculatedaccordingtothevelocitycontrolcommandbythe
ratioofthisparameterandaddtheresulttothetorquecommandresultingfromthevelocity
control process.
•Positionaldeviationataconstantacceleration/decelerationcanbeminimizedcloseto0by
increasingthetorqueforwardgain.Thismeansthatpositionaldeviationcanbemaintained
atnear0overentireoperationrangewhiledrivingintrapezoidalspeedpatternunderideal
conditionwheredisturbancetorqueisnotactive.
Pr1.13
Torquefeedforwardfilter
Range Unit Default
Related
control mode
0 to 6400 0.01 ms 0 P S F
Caution
•Setupthetimeconstantof1stdelaylterwhichaffectstheinputoftorquefeedforward.
•Thetorquefeedforwardwillbecomeeffectiveasthetorquefeedforwardgainisgradually
increasedwiththetorquefeedforwardlterissetatapprox.50(0.5ms).
<Usageexampleoftorquefeedforward>
•Tousethetorquefeedforward,correctlysettheinertiaratio.
Usethevaluethatwasdeterminedatthestartoftherealtimeautotuning,orsettheinertia
ratiothatcanbecalculatedfromthemachinespecicationtoPr0.04Inertiaratio.
•Thetorquefeedforwardwillbecomeeffectiveasthetorquefeedforwardgainisgradually
increasedwiththetorquefeedforwardlterissetatapprox.50(0.5ms).
•Positionaldeviationataconstantacceleration/decelerationcanbeminimizedcloseto0by
increasingthetorqueforwardgain.Thismeansthatpositionaldeviationcanbemaintained
atnear0overentireoperationrangewhiledrivingintrapezoidalspeedpatternunderideal
conditionwheredisturbancetorqueisnotactive.
Zeropositionaldeviationisimpossibleinactualsituationbecauseofdisturbancetorque.
Aswiththevelocityfeedforward,largetorquefeedforwardltertimeconstantdecreases
theoperatingnoisebutincreasespositionaldeviationataccelerationchangepoint.
Pr1.14
2nd gain setup
Range Unit Default
Related
control mode
0 to 1 — 1 P S T F
Related page
Arrangethisparameterwhenperformingoptimumadjustmentbyusingthegainswitching
function.
Setup value Gainselection/switching
0
1stgainisxedatavalue.Byusingthegainswitchinginput(GAIN),change
thevelocityloopoperationfromPItoP.
GAINinputphotocouplerOFF PI operation
GAINinputphotocouplerON P operation
*
TheabovedescriptionapplieswhenthelogicalsettingofGAINinputis
a-contact.ON/OFFofphotocouplerisreversedwhenb-contact.
[1]
Enablegainswitchingof1stgain(Pr1.00-Pr1.04)and2ndgain(Pr1.05-
Pr1.09).
Forswitchingconditionofthe1standthe2nd,refertoP.5-31"GainSwitchingFunction"of
Adjustment.
1. Details of parameter
[Class 1] Gain adjustment
Default:[]
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com