Panasonic MINAS A5-series Operating Instructions Manual
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4-12Pr1.00Title 1st gain of position loop Relatedcontrol mode P S T FRange 0 to 30000 Unit 0.1/s Default A,B,C-frame 480D,E,F-frame 320You can determine the response of the positional control system.Higher the gain of position loop you set, faster the positioning time you can obtain.Note that too high setup may cause oscillation.Pr1.01Title 1st gain of velocity loop Relatedcontrol mode P S T FRange 1 to 32767 Unit 0.1Hz Default A,B,C-frame 270D,E,F-frame 180CautionYou can determine the response of the velocity loop.In order to increase the response of overall servo system by setting high position loop gain,you need higher setup of this velocity loop gain as well. However, too high setup may causeoscillation.When the inertia ratio of Pr0.04 is set correctly, the setup unit of Pr1.01 becomes (Hz).Pr1.02Title 1st time constant of velocity loop integration Relatedcontrol mode P S T FRange 1 to 10000 Unit 0.1ms Default A,B,C-frame 210D,E,F-frame 310You can set up the integration time constant of velocity loop.Smaller the setup, faster you can dog-in deviation at stall to 0.The integration will be maintained by setting to "9999".The integration effect will be lost by setting to "10000".Pr1.03 Title 1st filter of speed detection Relatedcontrol mode P S T FRange 0 to 5 Unit — Default 0You can set up the time constant of the low pass filter (LPF) after the speed detection, in 6steps.Higher the setup, larger the time constant you can obtain so that you can decrease themotor noise, however, response becomes slow. Use with a default value of 0 in normaloperation.Pr1.04Title 1st time constant of torque filter Relatedcontrol mode P S T FRange 0 to 2500 Unit 0.01ms Default A,B,C-frame 84D,E,F-frame 126You can set up the time constant of the 1st delay filter inserted in the torque commandportion. You might expect suppression of oscillation caused by distortion resonance.4 1. Details of parameterSetup [Class 1] Gain adjustmentCautionNoteRelated page• To Panasonic MINAS users: A4 and higher seriesCAUTION: Parameter settings shown in this manual may differ from those applied to yourproduct (s).• For parameters which No. have a suffix of “ * ”, changed contents will be validated whenyou turn on the control power.• P.3-30... “Inputs and outputs on connector X4” |
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