Adjustment In Position Control Mode - Panasonic MINAS A4P Series Instruction Manual

Adjustment in Position Control Mode

Position control of MINAS-A4P series is described in Block diagram of P.224.
Make adjustment in position control per the following procedures.
(1) Set up the following parameters to the values of the table below.
Servo
Parameter
Title of parameter
No.
(SV.Pr**)
10 1st position loop gain
11 1st velocity loop gain
12 1st velocity loop integration time constant
13 1st speed detection filter
14 1st torque filter time constant
15 Velocity feed forward
16 Feed forward filter time constant
18 2nd position loop gain
19 2nd velocity loop gain
1A 2nd velocity loop integration time constant
1B 2nd speed detection filter
1C 2nd torque filter time constant
1D 1st notch frequency
1E 1st notch width selection
(2) Enter the inertia ratio of SV.Pr20. Measure the ratio or setup the calculated value.
(3) Make adjustment using the standard values below.
Servo
Parameter
Order Title of parameter
No.
(SV.Pr**)
1 SV.Pr11 1st velocity loop gain
1st torque filter time
2 SV.Pr14
constant
3 SV.Pr10 1st position loop gain
1st velocity loop
4 SV.Pr12 integration time
constant
5 SV.Pr15 Velocity feed forward
Standard Parameter
value
(SV.Pr**)
27
15
37
0
152
0
0
27
15
37
0
152
1500
2
Standard
value
Increase the value within the range where no abnormal noise and no vibration
30
occur. If they occur, lower the value.
When vibration occurs by changing SV.Pr11, change this value.
Setup so as to make SV.Pr11 x SV.Pr14 becomes smaller than 10000. If you
want to suppress vibration at stopping, setup larger value to SV.Pr14 and
50
smaller value to SV.Pr11. If you experience too large vibration right before
stopping, lower than value of SV.Pr14.
Adjust this observing the positioning time. Larger the setup, faster the
50
positioning time you can obtain, but too large setup may cause oscillation.
Setup this value within the range where no problem occurs. If you setup
smaller value, you can obtain a shorter positioning time, but too small value
25
may cause oscillation. If you setup too large value, deviation pulses do not
converge and will be remained.
Increase the value within the range where no abnormal noise occurs.
Too large setup may result in overshoot or chattering of position complete
300
signal, hence does not shorten the settling time. You can improve by setting up
SV.Pr16 (Feed forward filter time constant) to larger value.
Servo
Title of parameter
No.
20 Inertia ratio
21 Real time auto tuning set up
23 Adaptive filter mode
2B 1st vibration suppression frequency
2C 1st vibration suppression filter
2D 2nd vibration suppression frequency
2E 2nd vibration suppression filter
30 2nd gain action set up
31 1st control switching mode
32 1st control switching delay time
33 1st control switching level
34 1st control switching hysteresis
35 Position loop gain switching time
4C Smoothing filter
4D FIR filter set up
How to adjust
[Adjustment]
Standard
value
100
0
0
0
0
0
0
0
0
0
0
0
0
1
0
153