Panasonic MINAS E-series - Manual (Page 137)

137
[Gain Adjustment]
Gain Adjustment
Method of Adjustment in Position Control Mode
(1) Set the following parameters to values listed in the table below:
(2) Enter Pr20 inertia ratio. Measure with auto tuning or set a calculated value.
(3) Using the following table as target values, make adjustment.
How to Adjust the Internal Velocity Control Mode
Adjustable parameters are velocity loop gain, velocity loop integration time constant, and torque filter time
constant. Make adjustment in according to (3) of “Method of Adjustment in Position Control Mode” described
above, Pr11 1st velocity loop gain, Pr14 1st torque filter time constant, and Pr12 1st velocity loop integration time
constant.
Interpretation of Adjustment Order
Pr11
Pr15
1st velocity loop gain
Pr14
1st torque filter time
constant
Pr10 1st position loop gain
Pr12
1
5
2
3
4
1st velocity loop
integration time
constant
Velocity feed forward
30
50
50
25
300
You can increase a value as far as no abnormal noise/vibration is generated. If
abnormal noise is heard, decrease it.
If vibration is generated when you change Pr11, use a different value.
Make a value of Pr11 setting x Pr14 setting smaller than 10000. If you wish to
suppress vibration in halt condition, increase Pr14 and decrease Pr11. If
vibration immediately before halt overshoots, decrease Pr14.
Make adjustment while looking at positioning time. If you increase a value,
positioning time will be shorter. If you set it too high, oscillation with trembling
will be generated.
OK if there is no abnormal behavior. If you set a lower value, positioning time
will be shorter. However, if you set it too low, oscillation will be generated.
When you set it high, in some cases, deviation pulse will be left indefinitely
without being converged.
You can increase a value as far as no abnormal noise/vibration is generated.
If you set too much feed forward, it will lead to generation of overshoot or
chattering of a positioning complete signal, and as a result, stabilization time
may not be reduced. If command pulse input is not uniform, you may improve it
by setting Pr16 (feed forward filter) higher.
Parameter Name
Parameter No.
(Pr )
Target
Value
10
11
12
13
14
15
16
18
19
1A
1B
1C
1D
1E
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st speed detection filter
1st torque filter time constant
Velocity feed forward
Feed forward filter time constant
2nd position loop gain
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
Parameter Name
27
15
37
0
152
0
0
27
15
37
0
152
1500
2
Target
Value
Parameter No.
(Pr )
20
21
2B
2C
30
31
32
33
34
35
4C
4E
Inertia ratio
Real time auto tuning set-up
Damping frequency
Damping filter setting
2nd gain action set-up
Position control switching mode
Position control switching delay time
Position control switching level
Position control switching hysteresis
Position loop gain switching time
Smoothing filter set-up
FIR filter set-up
Parameter Name
100
0
0
0
0
0
0
0
0
0
1
0
Parameter No.
(Pr )
Target
Value