Panasonic MINAS A4P Series User Manual Page 60
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60
Parameter Setup
Standard default : < >
Servo
PrNo.
Setup
range
UnitTitle Function/Content
13 0 to 5
<0>*
–1st speed
detection filter
You can set up the time constant of the low pass filter (LPF) after the
speed detection, in 6 steps. Higher the setup, larger the time constant you
can obtain so that you can decrease the motor noise, however, response
becomes slow. Use with a default value of 0 in normal operation.
This setting is invalid if SV.Pr27 (Velocity observer) is enabled.
15 –2000
to 2000
<300>*
0.1%Velocity feed
forward
You can set up the velocity feed forward volume at position control.
Use when high-speed response is required.
16 0 to 6400
<50>*
0.01msFeed forward filter
time constant
You can set up the time constant of 1st delay filter inserted in velocity feed
forward portion.
14 0 – 2500
A to C-frame:<65>*
D to F-frame:<126>*
0.01ms1st torque filter time
constant
You can set up the time constant of the 1st delay filter inserted in the
torque command portion. You might expect suppression of oscillation
caused by distortion resonance.
1D
100 to 1500
<1500>
Hz1st notch
frequency
Specify the frequency of the 1st resonance suppressing notch filter. Use it
according to the machine resonance frequency.
If this parameter is set to “1500”, the notch filter function is disabled.
<Note>
This parameter may be changed depending on the adaptive filter settings.
1E 0 to 4
<2>
–1st notch width
selection
You can set up the notch filter width of the 1st resonance suppressing
filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
<Note>
This parameter may be changed depending on the adaptive filter
operation. If it is combined with the adaptive filter, use the 2nd notch filter.
18
19
1A
1B
1C
0 to 3000
A to C-frame:<73>*
D to F-frame:<38>*
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1 to 1000
<1000>*
0 to 5
<0>*
0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
1/s
Hz
ms
–
0.01ms
2nd position loop
gain
2nd velocity loop
gain
2nd velocity loop
integration time
constant
2nd speed
detection filter
2nd torque filter
time constant
Set when performing optimum tuning using the gain switching function.
Set the second loop gain for position control.
Set when performing optimum tuning using the gain switching function.
When SV.Pr20 (Inertia ratio) has been set correctly, the set time is “Hz”.
Set when performing optimum tuning using the gain switching function.
When using in a vertical axis, to keep the integration value, set “999”.
To disable the integration, set “1000”.
Set when performing optimum tuning using the gain switching function.
If you increase the value, the motor noise reduces.
This setting is disabled if the instantaneous speed observer is enabled
(SV.Pr27 = 1).
Set when performing optimum tuning using the gain switching function.
Set the time constant of 1st delay filter of the torque command.
27
(P)
0 to 1
<0>*
–Velocity observer With a high stiffness machine, you can achieve both high response and
reduction of vibration at stall, by using this instantaneous speed observer.
Setup value
<0>*
1
Instantaneous speed observer setup
Invalid
Valid
You need to set up the inertia ratio of SV.Pr20 correctly to use this function.
If you set up SV.Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), SV.Pr27 becomes 0 (invalid).
28
100 to 1500
<1500>
Hz2nd notch
frequency
You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
- AC Servo Motor and Driver 1
- MINAS A4P Series 1
- [Preparation] page 2
- [Setting] page 2
- [Operation Setting] page 3
- [Adjustment] page 4
- [When in Trouble] page 4
- [Supplement] page 5
- Before Using 9
- Safety Precautions 10
- [Before Using the Products] 11
- Maintenance and Inspection 12
- Introduction 14
- MSMD5AZS1S 15
- Parts Description 18
- How to Install 22
- [Preparation] 27
- • Wiring of the Main Circuit 28
- 11.0 or 32
- Tips on Wiring 34
- (by Tyco Electronics, AMP) 38
- (by Tyco Electronics , AMP) 38
- Cautions 40
- Wiring for Connector CN X5 42
- Interface Circuit 43
- Common input signals 44
- Setup with the Front Panel 48
- Built-in Holding Brake 50
- Dynamic Brake 52
- Parameter Setup 56
- Composition of Parameters 57
- List of Servo Parameter 58
- UnitTitle Function/Content 60
- Title Function/Content 65
- <Notes> 72
- Closed Control” 72
- List of Step Parameters 77
- Mode Change 81
- Monitor Mode 82
- Teaching Mode 87
- Parameter setup mode 91
- How to Use the Console 100
- SELECTION display 101
- [Setting] 103
- Outline of PANATERM 103
- How to Connect 103
- " 104
- Procedure of log on 104
- Log on of the "PANATERM 104
- [Operation Setting] 105
- Overview of Operation Setting 106
- Step Operation 107
- Homing Operation 114
- Limit Sensor 121
- Direction of homing 122
- Data Set 123
- Temporary Stop Operation 126
- Block Operation 127
- Step parameter 129
- 16-bit positioning parameter 129
- Sequential Operation 130
- Timing Chart 132
- –1 0 0 1 1 2 136
- Close the cover 137
- Absolute System 138
- What Is Full-Closed Control ? 140
- [Adjustment] 141
- Gain Adjustment 142
- Applicable Range 144
- How to Operate 144
- Adaptive Filter 147
- Normal Mode Auto-Gain Tuning 148
- Manual Gain Tuning (Basic) 152
- Gain Switching Function 155
- Instantaneous Speed Observer 160
- Damping Control 161
- [When in Trouble] 163
- When in Trouble 164
- Troubleshooting 172
- [Supplement] 175
- EC Directives 176
- EMC Directives 176
- Conformed Standards 176
- Installation Environment 176
- Surge Absorber 178
- Junction Cable for Encoder 182
- 105˚C 600V 183
- MFMCA0**2FCD 184
- MFMCA0**2FCT 184
- MFMCB0**0GET 184
- MFMCA0**3FCT 184
- 3) Table for wiring 185
- Part No. DV0P4420 188
- Fig.2 Fig.1 189
- DV0P2990 190
- Recommended components 191
- Dimensions (Driver) 192
- Mass 0.8kg 192
- Mass 1.1kg 192
- Mass 1.5kg 193
- Mass 1.7kg 193
- Mass 3.2kg 194
- Mass 6.0kg 194
- Dimensions (Motor) 195
- MSMD series 196
- MSMD 200W to 750W 197
- MSMA 1.0kW to 2.0kW 199
- MDMA 1.0kW to 1.5kW 201
- MDMA 4.0kW to 5.0kW 203
- MGMA 3.0kW to 4.5kW 205
- MFMA 2.5kW to 4.5kW 207
- MHMA 2.0kW to 5.0kW 209
- Motor with Gear Reducer 217
- Rotary encoder lead wire 218
- Position 222
- Voltage 222
- Block Diagram by Control Mode 224
- Full-closed Control Mode 225
- Input power supply 226
- Function 227
- Operation modeAuto tuning 227
- • Servo parameter (SV.Pr) 228
- FAX (03)3538-2964 231
- FAX (072)870-3151 231
- After-Sale Service (Repair) 232
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