Panasonic A4P Series instruction manual Parameters Which Are Automatically Set, SV.PrNo Title, 146

Real-Time Auto-Gain Tuning Mode

Parameters Which Are Automatically Set

Following parameters are automatically adjusted. Also following parameters are automatically set up.

SV.PrNo.	Title	SV.PrNo.	Title	Setup￿
				value
10￿	1st position loop gain￿	15￿	Velocity feed forward￿	300￿
11￿	1st velocity loop gain￿	16￿	Feed forward filter time constant￿	50￿
12￿	1st velocity loop integration time constant￿	27￿	Velocity observer￿	0￿
13￿	1st speed detection filter￿	30￿	2nd gain action set up￿	1￿
14￿	1st torque filter time constant￿	31￿	1st control switching mode￿	10￿
18￿	2nd position loop gain￿	32￿	1st control switching delay time￿	30￿
19￿	2nd velocity loop gain￿	33￿	1st control switching level￿	50￿
1A￿	2nd velocity loop integration time constant￿	34￿	1st control switching hysteresis￿	33￿
1B￿	2nd speed detection filter￿	35	Position loop gain switching time	20
1C￿	2nd torque filter time constant￿
20	Inertia ratio

<Notes>

•When the real-time auto-gain tuning is valid, you cannot change the parameters which are automati- cally adjusted.

•SV.Pr31 becomes 10 at position or full closed control and when SV.Pr21 (Real time auto tuning set up) is 1 to 6, and becomes 0 in other cases.

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