Panasonic MDDDT5540 User Manual download pdf (Page 95)

- App.21 -

Appendixes

Parameters for Time Constants of Gains and Filters: Related to Real Time Auto Tuning

PrNo. Parameter

Value

Function

•

You can define the response characteristics of position

control. Higher the gain you set, quicker the in-position

time you can obtain.

•

To obtain the overall response of the servo system

together with the above position gain, set this gain as

large as possible.

If Pr20 (inertia ratio) has been set correctly, the unit of

values of Pr11 and Pr 19 is Hz.

• Integration element of the velocity loop. The

smaller the setting, the quicker you can reduce

the velocity error to

• The integration is disabled by setting this at

1,000.

• You can set-up the time constant of low-pass

filter(LPF) in 6 stages(0 to 5), which is inserted

after the block , and which converts the encoder

signal to the velocity signal.

• Normally, use the default (4).

•

If set value is smaller, the motor noise increases. But, the time

constant becomes smaller and also the phase lag becomes smaller.

Thus, you can set-up larger. Sudden setting of small value may cause

oscillation to damage machine. Be careful in setting.

• You can set-up the time constant of the primary delay filter that is

inserted to the torque command portion.

• Use this function to suppress the oscillation caused by torsion

resonance.

You can set-up the amount of velocity feed forward at

position control. Position error becomes almost 0 while

the motor runs at a constant speed, by setting this to

100%. The higher the setting you make, the quicker

the response you can obtain with smaller position error,

however, it may cause overshoot.

•

You can set-up the time constant of the primary delay filter that is

inserted to the velocity feed forward portion.

•

Use this function to reduce the over and undershoot of the

speed, chattering of the in-position signal.

1st position

loop gain

1st velocity

loop gain

1st speed

detection

filter

Feed forward

filter time

constant

10 ~

2000

[ 50 ]

1 ~

3500

[ 100 ]

1 ~

1000

[ 50 ]

0 ~ 5

[ 4 ]

0 ~

2500

[ 50 ]

0 ~

100

[ 0 ]

0 ~

6400

[ 0 ]

1/s

-----

0.01ms

1st velocity

loop integration

time constant

1st torque filter

time constant

Velocity feed

forward

Unit

1 ... 94 95 96 ... 133

Comments to this Manuals

Riaz uddin 01 Jun 2024 | 12:31:56

Ac sarvo motor

Panasonic MDDDT5540 User Manual Page 95

Comments to this Manuals

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