Adjustment in Position Control Mode, SV.Pr

Adjustment in Position Control Mode

Position control of MINAS-A4P series is described in Block diagram of P.224.

Make adjustment in position control per the following procedures.

(1) Set up the following parameters to the values of the table below.

Servo			Standard
Parameter		Title of parameter	Standard
No.		Title of parameter	value
No.			value
(SV.Pr**)
10	1st position loop gain		27
11	1st velocity loop gain		15
12	1st velocity loop integration time constant		37
13	1st speed detection filter		0
14	1st torque filter time constant		152
15	Velocity feed forward		0
16	Feed forward filter time constant		0
18	2nd position loop gain		27
19	2nd velocity loop gain		15
1A	2nd velocity loop integration time constant		37
1B	2nd speed detection filter		0
1C	2nd torque filter time constant		152
1D	1st notch frequency		1500
1E	1st notch width selection		2

Servo			Standard
Parameter		Title of parameter	Standard
No.		Title of parameter	value
No.
(SV.Pr**)
(SV.Pr**)
20	Inertia ratio		100

21	Real time auto tuning set up		0

23	Adaptive filter mode		0

2B	1st vibration suppression frequency		0

2C	1st vibration suppression filter		0

2D	2nd vibration suppression frequency		0

2E	2nd vibration suppression filter		0

30	2nd gain action set up		0

31	1st control switching mode		0

32	1st control switching delay time		0

33	1st control switching level		0

34	1st control switching hysteresis		0

35	Position loop gain switching time		0

4C	Smoothing filter		1

4D	FIR filter set up		0

(2)Enter the inertia ratio of SV.Pr20. Measure the ratio or setup the calculated value.

(3)Make adjustment using the standard values below.

	Servo
Order	Parameter			Standard
	No.		Title of parameter		value	How to adjust
	(SV.Pr**)

1	SV.Pr11	1st velocity loop gain			30	Increase the value within the range where no abnormal noise and no vibration
						occur. If they occur, lower the value.

						When vibration occurs by changing SV.Pr11, change this value.

						Setup so as to make SV.Pr11 x SV.Pr14 becomes smaller than 10000. If you
			1st torque filter time
2	SV.Pr14				50	want to suppress vibration at stopping, setup larger value to SV.Pr14 and
			constant
						smaller value to SV.Pr11. If you experience too large vibration right before

						stopping, lower than value of SV.Pr14.

						Adjust this observing the positioning time. Larger the setup, faster the
3	SV.Pr10	1st position loop gain			50
						positioning time you can obtain, but too large setup may cause oscillation.

						Setup this value within the range where no problem occurs. If you setup
			1st velocity loop
						smaller value, you can obtain a shorter positioning time, but too small value
4	SV.Pr12	integration time			25
						may cause oscillation. If you setup too large value, deviation pulses do not
			constant
						converge and will be remained.

						Increase the value within the range where no abnormal noise occurs.

						Too large setup may result in overshoot or chattering of position complete
5	SV.Pr15		Velocity feed forward		300
						signal, hence does not shorten the settling time. You can improve by setting up

						SV.Pr16 (Feed forward filter time constant) to larger value.

Adjustment

153