Panasonic MINAS A3 Series Gain, Integration time, Constant, 1st speed, Filter, 1st torque filter

[Connections and Settings in Torque Control Mode]

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

					Default setting is shown by [ ]
Parameter	Parameter Name	Setting	Unit		Function/Description
No.		range
11	1st Velocity loop	1 – 3500	Hz	• The parameter defines responsiveness of the speed loop. You need to
	gain	[35]*			set this speed loop gain high so as to improve responsiveness of the
					entire servo system by increasing position loop gain.
12	1st Velocity loop	1 – 1000	ms	• This parameter is an integration element of a speed loop and acts to
	integration time	[16]*			drive quickly the subtle speed deviation into zero. The smaller the
	constant				setting is, the faster deviation will be zeroed.
				• Setting of “1000” will remove effects of integration.
13	1st speed	0 – 6	–	• The parameter sets in 6 phases (0 to 5) a time constant of the low-pass
	detection	[0]*			filter inserted after the block of converting an encoder signal into a
	filter				speed signal.
				• Setting this parameter high would increase a time constant, thereby
					reducing noise of the motor. However, usually use the factory setting (0).
14	1st torque filter	0 – 2500	0.01ms	• The parameter sets a time constant of the primary delay filter inserted
	time constant	[65]*			into the torque command unit.
				• It effects the control of vibration because of the torsion resonance.
19	2nd Velocity loop	1 – 3500	Hz	• A position loop, speed loop, speed detection filter, and torque command
	gain	[35]*			filter, respectively, has 2 pairs of gains or time constants (the 1st and
1A	2nd Velocity loop inte-	1 – 1000	ms		2nd).
	gration time constant	[1000]*		• Each function/content is similar to the 1st gain/time constraint, described
1B	2nd speed	0 – 6	–		earlier.
	detection filter	[0]*		• For details on switching of the 1st and 2nd gains or time constants, refer
1C	2nd torque filter	0 – 2500	0.01ms		to Adjustment volume on page 186.
	time constant	[65]*		* Pr11 and Pr19 will be set in terms of (Hz) when Pr20 inertia ratio has
					been set correctly.
1D	1st notch	100 – 1500	Hz	• The parameter sets frequency of the resonance suppression notch filter.
	frequency	[1500]		• You should set it about 10% lower than the resonance frequency of the
					mechanical system that has been found by the frequency characteristics
					analysis facility of the setup assisted software “PANATERMR® ”.
				• Setting this parameter ”1500” would disable the function of notch filter.
1E	1st notch width	0 – 4	–	•	The parameter sets width of the resonance suppression notch filter in 5
	selection	[2]			steps. The higher the setting is, the greater the width is.
				•	Normally, use a factory setting.

Torque Control Mode

Connections and Settings in

Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.

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