Panasonic A4P Series Parameters for Auto-Gain Tuning, Unit Function/Content PrNo Range

[Setting]

					Standard default : < >
Servo￿	Title	Setup￿	Unit		Function/Content
PrNo.		range
29	2nd notch width	0 to 4￿	–￿	You can set up the notch width of 2nd resonance suppressing filter in 5
	selection	<2>		steps. Higher the setup, larger the notch width you can obtain.
				Use with default setup in normal operation.
2A	2nd notch depth	0 to 99￿	–￿	You can set up the 2nd notch depth of the resonance suppressing filter.
	selection	<0>		Higher the setup, shallower the notch depth and smaller the phase delay
				you can obtain.
2B	1st vibration	0 to 2000￿ 0.1Hz		You can set up the 1st vibration suppression frequency of the damping
	suppression	<0>		control which suppress vibration at the load edge. ￿
	frequency			The driver measures vibration at load edge. Setup unit is 0.1[Hz]. ￿
				The setup frequency is 10.0 to 200.0[Hz]. Setup of 0 to 99 becomes invalid			.
				Refer to P.161, "Damping control" as well before using this parameter.
2C	1st vibration	–200 to 2000￿	0.1Hz	While you set up SV.Pr2B (1st vibration suppression frequency), set this
	suppression filter	<0>		up to smaller value when torque saturation occurs, and to larger value
				when you need faster action.Use with the setup of 0 in normal operation.
				Refer to P.161,	"Damping control" of Adjustment .￿
				<Caution>	￿
					<	<
				Setup is also limited by 10.0[Hz] – SV.Pr2B= SV.Pr2C= SV.Pr2B
2D	2nd vibration	0 to 2000￿ 0.1Hz		You can set up the 2nd vibration suppression frequency of the damping
	suppression	<0>		control which suppress vibration at the load edge.￿
	frequency			The driver measures vibration at the load edge. Setup unit is 0.1 [Hz].￿
				Setup frequency is 10.0 to 200.0 [Hz]. Setup of 0-99 becomes invalid.￿
				Refer to P.161, "Damping control" of Adjustment as well before using this
				parameter.
2E	2nd vibration	–200 to 2000￿	0.1Hz	While you set up SV.Pr2D (2nd vibration suppression frequency), set this
	suppression filter	<0>		up to smaller value when torque saturation occurs, and to larger value
				when you need faster action.￿
				Use with the setup of 0 in normal operation. Refer to P.161, "Damping
				control" of Adjustment .￿
				<Caution>￿
					<	<
				Setup is also limited by 10.0[Hz] – SV.Pr2D= SV.Pr2E		= SV.Pr2D

￿

Setting

Parameters for Auto-Gain Tuning

					Standard default : < >
Servo￿	Title	Setup￿	Unit		Function/Content
PrNo.		range
20	Inertia ratio	0 to 10000￿	%	You can set up the ratio of the load inertia against the rotor (of the motor) inertia.￿
		<250>*		￿
					SV.Pr20 = (load inertia/rotor inertia) X 100 [%]
				￿
				When you execute the normal auto-gain tuning, the load inertial will be
				automatically estimated after the preset action, and this result will be
				reflected in this parameter.￿
				The inertia ratio will be estimated at all time while the real-time auto-gain
				tuning is valid, and its result will be saved to EEPROM every 30 min.￿
				<Caution>￿
				If the inertia ratio is correctly set, the setup unit of SV.Pr11 and SV.Pr19
				becomes (Hz). When the inertia ratio of SV.Pr20 is larger than the actual,
				the setup unit of the velocity loop gain becomes larger, and when the
				inertia ratio of SV.Pr20 is smaller than the actual, the setup unit of the
				velocity loop gain becomes smaller.

<Notes>

•Anything marked with “(P)” on the servo parameter number (Servo PrNo.) can be used only for the “posi- tion control”.

•Parameters which default values have a suffix of "*" will be automatically set up during real time auto-gain tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to P.151, "Release of Automatic Gain Adjusting Function" of Adjustment.

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