Panasonic Minas E Series Instruction Manual
Also see for Minas E Series: Technical reference
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Contents
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87[Connections and Settings in Position Control Mode]Connections andSettings in PositionControl ModePrNo.101112131418191A1B1C202FName1st position loop gain1st velocity loop gain1st velocity loop integration time constant1st velocity detection filter1st torque filter time constant2nd position loop gain2nd velocity loop gain2nd velocity loop integration time constant2nd velocity detection filter2nd torque filter time constantInertia ratioAdaptive filter frequencyPrNo.15163031323334353005011030503320Name SettingVelocity feed forwardFeed forward filter time constant2nd gain action set-upPosition control switching modePosition control switching delay timePosition control switching levelPosition control switching hysteresisPosition loop gain switching timeAdaptive FilterAn adaptive filter will be enabled when Pr02=2 (high function positioning control mode) and Pr21 (Real time autotuning set-up) is 1 to 3 or 7.The adaptive filter reduces resonance point vibration, by estimating resonance frequency from vibration componentthat appears in motor speed in operation, and removing resonance component from a torque command throughautomatic setting of a coefficient of a notch filter.The adaptive filter may not function normally under the following conditions. In such a case, take resonancemeasures 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 timeauto tuning), you may have abnormal noise or oscillation before you identify load inertia or an adaptive filter isstabilized. However, this doesn’t constitute abnormality if it disappears in no time. If oscillation or noise persistsover 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 autotuning 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 filterfrequency) may change to an extreme value. Even in such a case, you should take the measures describedabove.(3) Among results of real time auto gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) are writteninto EEPROM every 30 minutes. When you power ON again, auto tuning will be carried out using the data as aninitial value.Parameters to be Set AutomaticallyThe following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically.Resonance PointCommand PatternLoadConditions that Hinder an Adaptive Filter from FunctioningWhen the resonance frequency is 300 [Hz] or lower.When resonance peak or control gain is low, which does not affect the motor speedWhen there is more than one resonance pointWhen 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] |
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