Panasonic MINAS E-series User Manual

Page 119

119

[Connections and Settings in Internal Velocity Control Mode]

Connections and

Settings in Internal

locity Control Mode

Parameters for Adjustment of Time Constants of Gains/Filters

Standard Default Setup: [ ]

PrNo.

Parameter Name

Unit

Function/Content

• The parameter determines responsiveness of the velocity loop. To

improve responsiveness of the entire servo system by setting the
position loop gain high, you should be able to set this velocity loop
gain higher.

• This is an integration element provided to velocity loop, and works to

drive minute speed deviation after shutdown to zero. The smaller
setting is, the faster the parameter drives it zero.

• If it is set to “1000”, there will be no effect of integration.
• The parameter is used to set a time constant of the low pass filter

(LPF) entered after the block capable of conversion from an encoder
signal to a speed signal in 6 phases (0 to 5).

• As you increase a setting, the time constant will also rise. Thus,

although you can reduce noise from the motor, we recommend you
set it to 4 or less usually.

• The parameter sets a time constant of the primary delay filter

inserted into torque command unit.

• This might take effect on suppression of vibration due to torsional

resonance.

• A position loop, velocity loop, speed detection filter, and torque

command filter have 2 pairs of gains or time constants (1st and
2nd ), respectively.

• The functions/descriptions of respective gains/time constants are

same as the 1st gain/time constants.

• For details on switching of the 1st/2nd gain, and time constants,

refer to Page 127 of Adjustment edition.

* When Pr20 inertia ratio is set correctly, Pr11 and Pr19 will be set in

(Hz).

• The parameter sets notch frequency of a resonance suppression

notch filter.

• Set the parameter about 10% lower than resonance frequency of the

mechanical system that has been found by the frequency
characteristic analysis feature of “PANATERM

”, the setup support

software.

• Setting this parameter to “1500” disables functions of the notch filter.
• The parameter sets width of notch frequency of a resonance

suppression notch filter in 5 stages. The higher setting is, the wider
filter width will be.

• Usually, use a default set-up value.

1st velocity loop
gain

1st velocity loop
integration time
constant

1st speed
detection filter

1st torque filter
time constant

2nd velocity loop
gain
2nd velocity loop
integration time
constant
2nd speed
detection filter
2nd torque filter
time constant
1st notch
frequency

1st notch width
selection

1 - 3500

[35]*

1 - 1000

[16]*

0 - 5

[0]*

0 - 2500

[65]*

1 - 3500

[35]*

1 - 1000

[1000]*

0 - 5

[0]*

0 - 2500

[65]*

100 -
1500

[1500]

0 - 4

[2]

–

0.01ms

–

0.01ms

–

Parameters having standard default set-up value with “*” mark are automatically set while real time auto
gain tuning is running. To change to manual, refer to “Cancellation of the Automatic Gain Tuning” on Page
135 of Adjustment edition, disable real time auto gain tuning and then set.

Range of

Settings