Panasonic MINAS E-series - Manual (Page 87)

87
[Connections and Settings in Position Control Mode]
Connections and
Settings in Position
Control Mode
PrNo.
10
11
12
13
14
18
19
1A
1B
1C
20
2F
Name
1st position loop gain
1st velocity loop gain
1st velocity loop integration time constant
1st velocity detection filter
1st torque filter time constant
2nd position loop gain
2nd velocity loop gain
2nd velocity loop integration time constant
2nd velocity detection filter
2nd torque filter time constant
Inertia ratio
Adaptive filter frequency
PrNo.
15
16
30
31
32
33
34
35
300
50
1
10
30
50
33
20
Name Setting
Velocity feed forward
Feed forward filter time constant
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
Adaptive Filter
An adaptive filter will be enabled when Pr02=2 (high function positioning control mode) and Pr21 (Real time auto
tuning set-up) is 1 to 3 or 7.
The adaptive filter reduces resonance point vibration, by estimating resonance frequency from vibration component
that appears in motor speed in operation, and removing resonance component from a torque command through
automatic setting of a coefficient of a notch filter.
The adaptive filter may not function normally under the following conditions. In such a case, take resonance
measures using the 1st notch filter (Pr1D, 1E) and according to the manual tuning procedure.
For details on the notch filter, refer to “To Reduce Mechanical Resonance” on Page 140.
Cautions
(1) After startup, immediately following a first Servo-ON or when you increase Pr22 (Machine stiffness at real time
auto tuning), you may have abnormal noise or oscillation before you identify load inertia or an adaptive filter is
stabilized. However, this doesn’t constitute abnormality if it disappears in no time. If oscillation or noise persists
over 3 reciprocating operations, you should take any of the following measures in any possible order:
1) Write into EEPROM parameters used during normal operation.
2) Decrease Pr22 (Machine stiffness at real time auto tuning).
3) Once set Pr21 (Real time auto tuning set-up) to 0 and disable an adaptive filter. Then, enable real time auto
tuning again (To disable inertia estimation/resetting of adaptive operation, or real time auto tuning, refer to
“Cancellation of the Automatic Gain Tuning” on Page 135).
4) Manually set a notch filter (Refer to “To Reduce Mechanical Resonance” on Page 140).
(2) In some cases, after abnormal noise or oscillation is generated, Pr20 (Inertia ratio) or Pr2F (Adaptive filter
frequency) may change to an extreme value. Even in such a case, you should take the measures described
above.
(3) Among results of real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are written
into EEPROM every 30 minutes. When you power ON again, auto tuning will be carried out using the data as an
initial value.
Parameters to be Set Automatically
The following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically.
Resonance Point
Command Pattern
Load
Conditions that Hinder an Adaptive Filter from Functioning
When the resonance frequency is 300 [Hz] or lower.
When resonance peak or control gain is low, which does not affect the motor speed
When there is more than one resonance point
When the motor speed having high frequency component fluctuates due to nonlinear element such as backlash, etc.
When acceleration or deceleration is exponential such as 30000 [r/min] or more in 1 [s]
When real time auto tuning is enabled, you are not allowed to change any parameter to be automatically tuned.