Panasonic MINAS A3 Series manual Parameters, which are set up automatically, Name Set value

[Connections and Settings in Torque Control Mode]

Parameters, which are set up automatically

The following parameters are tuned automatically.

Parameter No.	Name
11	1st speed loop gain
12	1st speed loop integration time constant
13	1st speed detection filter
14	1st torque filter time constant
19	2nd speed loop gain
1A	2nd speed loop integration time constant
1B	2nd speed detection filter
1C	2nd torque filter time constant
20	Inertia ratio

The following parameters are also set up to the following fixed values automatically.

Parameter No.	Name	Set value
27	Disturbance torque observer filter selection	0
30	2nd gain action set-up	1
3A	Torque control switching mode	0

Caution

[1]Immediately after the first servo ON at startup or when Pr22 (machine stiffness at real-time auto tuning) is increased, abnormal noise or oscillation may be generated before load inertia is determined. This is not anomaly if it is stabilized shortly. However when such problems as oscillation or noise that continues for 3 reciprocal operations or longer is encountered frequently, take the following measures:

1)Write the parameter of normal operation into the EEPROM.

2)Decrease the Pr22 (Machine stiffness at real-time auto tuning).

3)Once set up Pr21 (Real-time auto tuning set-up) to 0 to disable the adaptive filter. Then, enable the real time auto tuning again. (resetting of inertia estimate adaptive operation)

[2]After abnormal noise or oscillation, Pr20 (inertial ratio) may be changed to an extreme value. In such a case, also take the above measures.

[3]Among results of real-time auto gain tuning, Pr20 (inertia ratio) is programmed into EEPROM every 30 min- utes. When you turn on the power again, auto tuning will be executed using the data as initial value.

Torque Control Mode

Connections and Settings in

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