Panasonic A4P Series instruction manual Title Setup Unit Function/Content PrNo, 1st notch

Parameter Setup

								Standard default : < >
Servo￿		Title	Setup￿		Unit			Function/Content
PrNo.			range
13	1st speed		0 to 5￿		–￿	You can set up the time constant of the low pass filter (LPF) after the
	detection filter		<0>*			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.
14	1st torque filter time		0 – 2500￿ 0.01ms			You can set up the time constant of the 1st delay filter inserted in the
	constant		A to C-frame:<65>*￿			torque command portion. You might expect suppression of oscillation
			D to F-frame:<126>*			caused by distortion resonance.
15	Velocity feed		–2000￿		0.1%	You can set up the velocity feed forward volume at position control.￿
	forward		to 2000￿			Use when high-speed response is required.
			<300>*
16	Feed forward filter		0 to 6400￿ 0.01ms			You can set up the time constant of 1st delay filter inserted in velocity feed
	time constant		<50>*			forward portion.
18￿	2nd position loop		0 to 3000￿		1/s￿	Set when performing optimum tuning using the gain switching function.￿
￿	gain￿		A to C-frame:<73>*￿		￿	Set the second loop gain for position control.￿
￿	￿		D to F-frame:<38>*￿		￿	￿
19￿	2nd velocity loop		1 to 3500￿		Hz￿	Set when performing optimum tuning using the gain switching function.￿
￿	gain￿		A to C-frame:<35>*￿		￿	When SV.Pr20 (Inertia ratio) has been set correctly, the set time is “Hz”.￿
￿	￿		D to F-frame:<18>*￿		￿	￿
1A￿	2nd velocity loop		1 to 1000￿		ms￿	Set when performing optimum tuning using the gain switching function.￿
￿	integration time		<1000>*￿		￿	When using in a vertical axis, to keep the integration value, set “999”.￿
￿	constant￿		￿		￿	To disable the integration, set “1000”.￿
1B￿	2nd speed		0 to 5￿		–￿	Set when performing optimum tuning using the gain switching function.￿
￿	detection filter￿		<0>*￿		￿	If you increase the value, the motor noise reduces.￿
￿	￿		￿		￿	This setting is disabled if the instantaneous speed observer is enabled
￿	￿		￿		￿	(SV.Pr27 = 1).￿
1C	2nd torque filter		0 to 2500￿ 0.01ms			Set when performing optimum tuning using the gain switching function.￿
	time constant		A to C-frame:<65>*￿			Set the time constant of 1st delay filter of the torque command.
			D to F-frame:<126>*
1D	1st notch		100 to 1500￿		Hz	Specify the frequency of the 1st resonance suppressing notch filter. Use it
	frequency		<1500>			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	1st notch width		0 to 4￿		–￿	You can set up the notch filter width of the 1st resonance suppressing
	selection		<2>			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.
27￿	Velocity observer		0 to 1￿		–￿	With a high stiffness machine, you can achieve both high response and
(P)			<0>*			reduction of vibration at stall, by using this instantaneous speed observer.
							Setup value￿	Instantaneous speed observer setup￿
							<0>*￿	Invalid ￿
							1	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	2nd notch		100 to 1500	￿	Hz	You can set up the 2nd notch width of the resonance suppressing filter in
	frequency		<1500>			5 steps. The notch filter function is invalidated by setting up this parame-
						ter to "1500".

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