Panasonic MINAS A3 Series manual Parameters, which are set up automatically, Name Set value

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[Connections and Settings in Torque Control Mode]

Parameters, which are set up automatically

The following parameters are tuned automatically.

Parameter No.

Name

11

1st speed loop gain

12

1st speed loop integration time constant

13

1st speed detection filter

14

1st torque filter time constant

19

2nd speed loop gain

1A

2nd speed loop integration time constant

1B

2nd speed detection filter

1C

2nd torque filter time constant

20

Inertia ratio

The following parameters are also set up to the following fixed values automatically.

Parameter No.

Name

Set value

27

Disturbance torque observer filter selection

0

30

2nd gain action set-up

1

3A

Torque control switching mode

0

Caution

[1]Immediately after the first servo ON at startup or when Pr22 (machine stiffness at real-time auto tuning) is increased, abnormal noise or oscillation may be generated before load inertia is determined. This is not anomaly if it is stabilized shortly. However when such problems as oscillation or noise that continues for 3 reciprocal operations or longer is encountered frequently, take the following measures:

1)Write the parameter of normal operation into the EEPROM.

2)Decrease the Pr22 (Machine stiffness at real-time auto tuning).

3)Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the real time auto tuning again. (resetting of inertia estimate adaptive operation)

[2]After abnormal noise or oscillation, Pr20 (inertial ratio) may be changed to an extreme value. In such a case, also take the above measures.

[3]Among results of real-time auto gain tuning, Pr20 (inertia ratio) is programmed into EEPROM every 30 min- utes. When you turn on the power again, auto tuning will be executed using the data as initial value.

Torque Control Mode

Connections and Settings in

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Contents CN X5 Connector Connections and Settings Torque Control ModeTorque control block diagram Connections and Settings in Torque Control Mode CN X5 ConnectorCN X5 Connector Circuits Available for Torque control modeInput Circuit Interface CircuitOutput Circuit Connections and Settings in Torque Control ModeInput Signals Common and their Functions Input signal common assignment to CN X5 connector pinsZerospd INHGain CLRInput Signals Speed Control and their Functions ZSP Output Signals Others and their FunctionsTLC Coin +Wiring Diagram Trial run at Torque Control ModeInput Signals Status Operation with CN X5 ConnectedMemo How to use Real time auto gain tuningOutline Application rangeName Parameters, which are set up automaticallyName Set value Parameters for Function Selection Parameter SettingCCWL/CWL Set up IM SignalsIM selection TLC outputIntegration time GainConstant 1st speedParameters for real time auto gain tuning Disturbance Parameter Name Setting Unit Function/DescriptionTorque observer Set value Cutoff Frequency Filter selection 2nd notchParameters for Position Control Parameters for Switching to 2nd GainsParameters for Speed Control Parameters for various sequences Parameters for Torque ControlAt main power-off Error responseMain Power Source Under-voltage Protection Action Setting Driving ConditionsResister set up Delay atMain power-off Motor standstill
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