Panasonic MINAS-BL GP series Instructions Manual

Also see for MINAS-BL GP series: Technical instructions Technical instructions Manual

Contents

－ 41 －－ 40 －ParameterParameterNo.(Pr□□)Name of parameterEffectiveafterpowerresettingSettingrange Default Description1bThe 4th pointThe 4thsetting speed 0 to 4000 2000 You can set the speed moving to the 4thpoint. Setting unit [r/min]1C The 4thacceleration time 1 to 30000 200 You can set time taken for reaching the 4thsetting speed. Setting unit [ms]1d The 4thdeceleration time 1 to 30000 200 You can set time taken from the 4th settingspeed to stop. Setting unit [ms]1E The 4th blocksetting 0, 1 00: Normal operation1: Continuous block operation(4th point → 1st point )1F The 4th blocktimer setting 0 to 30000 0Enabled when you set Pr1E to “1”.Start commanding of 1st point after this set-ting time elapses and command of 4th pointis completed. Enabled in unit of 2 ms.Setting unit [ms]20 Acceleration mode 0, 1 0You can select running pattern in acceleration.0: Linear1: S-Pattern (Setting common to all points)21 Deceleration mode 0, 1 0You can select running pattern in deceleration.0: Linear1: S-Pattern (Setting common to all points)22 Sequential runmaximum point number 1 to 4 4 You can set the maximum point number forpositioning by use of sequential run signal.23 Coordinate systemsetting ○ 0, 1 0 0: CCW rotation in + direction1: CW rotation in + direction28 Position loop gain(the 1st gain) 0 to 100 5You can determine the response of positioncontrol. You need not change it normally.When it is increased, the response is im-proved, which is likely to cause oscillation.(The 1st gain: When gain switching is used,the 1st gain is the gain at stop.)29 Velocity loop gain(the 1st gain) 0 to 10000 1000You can determine the response of velocityloop. You need not change it normally. Whenit is increased, the response is improved,which is likely to cause oscillation.2AVelocity loopintegration gain(the 1st gain)0 to 10000 500You can determine the rigidity of velocityloop. You need not change it normally. Whenit is increased, the rigidity is improved, whichis likely to cause oscillation.2bVelocity feedforward gain(the 1st gain)0 to 100 0Set it to 0 in normal use. This is the functionto forward (add) position command to speedcommand.When the setting is increased, theposition error is decreased and responseimproved, which makes overshoot large.Setting unit [%]ParameterNo.(Pr□□)Name of parameterEffectiveafterpowerresettingSettingrange Default Description2C Speed detection filter(the 1st gain) 5 to 20 13Use the default setting normally.You can set the time constant of low-passfilter of speed feedback. When the setting ismade smaller, the gain can be made largerand response improved, which increasesoperation noise.2dVelocity feed forwardtime constant(Common to the1st/2nd gain)0 to 500 0Set it at 0 in normal use. This is a filter in ve-locity feed forward section. When the settingis made larger, the time constant is madelarger. Setting unit [ms]2E Torque limit setting(the 1st gain) 50 to 150 150Output torque of motor is limited. Set it in[%] with reference to rated torque. (Torquevalue has no precision because torque is notcontrolled. Use it as an index.)2FTorque filter timeconstant(Common to the1st/2nd gain)0 to 500 0You can set the time constant of primarydelay filter of torque instruction. You neednot change it normally. You can suppressoscillation due to insufficient rigidity of load.Setting unit [ms]30The 2nd position loopgain(the 2nd gain)0 to 100 5You can determine the response of posi-tion control. (The 2nd gain: When using gainswitching, the 2nd gain is the gain in running.)31The 2nd velocity loopgain(the 2nd gain)0 to 10000 1000 You can determine the response of velocityloop.32The 2nd velocity loopintegration gain(the 2nd gain)0 to 10000 500 You can determine the rigidity of velocityloop.33The 2nd velocity feedforward gain(the 2nd gain)0 to 100 0 Set it at 0 in normal use.Setting unit [%]34The 2nd speeddetection filter(the 2nd gain)5 to 20 13Use the default setting normally.You can set the time constant of low-passfilter in speed feedback.35The 2nd torque limitsetting(The 2nd gain)50 to 150 150Output torque of the motor is limited. Set it in[%] with reference to rated torque. (Torquevalue has no precision because torque is notcontrolled. Use it as an index.)36 Gain switching modeselection 0 to 2 00: Fixed at the 1st gain1: Fixed at the 2nd gain2: Automatic switching (In running = the 2ndgain, In standstill = the 1st gain)