Panasonic Minas E Series Instruction Manual

Also see for Minas E Series: Technical reference

Contents

119[Connections and Settings in Internal Velocity Control Mode]Connections andSettings in InternalVelocity Control ModeParameters for Adjustment of Time Constants of Gains/FiltersStandard Default Setup: [ ]PrNo. Parameter Name Unit Function/Content• The parameter determines responsiveness of the velocity loop. Toimprove responsiveness of the entire servo system by setting theposition loop gain high, you should be able to set this velocity loopgain higher.• This is an integration element provided to velocity loop, and works todrive minute speed deviation after shutdown to zero. The smallersetting 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 encodersignal 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 youset it to 4 or less usually.• The parameter sets a time constant of the primary delay filterinserted into torque command unit.• This might take effect on suppression of vibration due to torsionalresonance.• A position loop, velocity loop, speed detection filter, and torquecommand filter have 2 pairs of gains or time constants (1st and2nd ), respectively.• The functions/descriptions of respective gains/time constants aresame 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 suppressionnotch filter.• Set the parameter about 10% lower than resonance frequency of themechanical system that has been found by the frequencycharacteristic analysis feature of “PANATERM® ”, the setup supportsoftware.• Setting this parameter to “1500” disables functions of the notch filter.• The parameter sets width of notch frequency of a resonancesuppression notch filter in 5 stages. The higher setting is, the widerfilter width will be.• Usually, use a default set-up value.11121314191A1B1C1D1E1st velocity loopgain1st velocity loopintegration timeconstant1st speeddetection filter1st torque filtertime constant2nd velocity loopgain2nd velocity loopintegration timeconstant2nd speeddetection filter2nd torque filtertime constant1st notchfrequency1st notch widthselection1 - 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]Hz*ms–0.01msHzms–0.01msHz–Parameters having standard default set-up value with “*” mark are automatically set while real time autogain tuning is running. To change to manual, refer to “Cancellation of the Automatic Gain Tuning” on Page135 of Adjustment edition, disable real time auto gain tuning and then set.Range ofSettingsBuy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com