Panasonic MINAS A3 Series manual Parameter Name Setting Unit Function/Description, Disturbance

[Connections and Settings in Torque Control Mode]

							Default setting is shown by [ ]
Parameter		Parameter Name	Setting	Unit			Function/Description
No.			range
27	Disturbance		0 –255	–	• Cut-off frequency of the filter for disturbance torque observer is set.
	torque observer
					Set value		Cutoff Frequency
	filter selection				[0]*		Disturbance Observer Disabled
					1 – 255	Enabled, filter cutoff frequency [Hz] = 3.7 x setting
		A larger value provides stronger disturbance suppression; but a larger operation noise is emitted. When using this
		function, it is necessary to set Pr20 inertia ratio correctly. When Pr.21 real time auto tuning mode setting is altered,
		Pr27 changes to 0(disabled). Also, while the real time auto tuning is enabled (Pr21 is not 0 or 7), Pr27 is fixed to 0
		and the disturbance observer is disabled.
28	2nd notch		100 – 1500	Hz	• Defines the notch frequency of the second resonance suppression notch
	frequency		[1500]		filter.
					• The unit is [Hz]. Match the notch frequency with the machine's reso-
					nance frequency.
					100 to 1499: Filter enabled 1500: Filter disabled
29	2nd notch width		0 – 4	–	• Select the notch width of the second resonance suppression notch filter.
	selection		[2]		• Increasing the set value enlarges the notch width.
2A	2nd notch depth		0 – 99	–	• Select the notch depth of the second resonance suppression notch filter.
	selection		[0]		• Increasing the set value reduces the notch depth and the phase delay.
2F	Adaptive filter		0 – 64	–	• Table No. corresponding to the frequency of the applied filter is dis-
	frequency		[0]*		played. (See page 196)
					• When the applied filter is enabled (when Pr21 (real time auto tuning
					mode setting) is 1-3,7), this parameter is set automatically and can not
					be altered.
					0: Filter disabled		1 - 64: Filter enabled
					Before using this function, see page 196 “Disabling of auto tuning func-
					tion” in adjustments.
					• When the applied filter is enabled, the parameter is stored in the EE-
					PROM every 30 minutes. And when the applied filter is enabled at turn-
					ing ON the power next time, the data stored in the EEPROM is used as
					the initial value to adapt the operation.
					• When clearing the parameter to reset the adapted operation due to un-
					satisfactory operation, once set the applied filter disabled (set Pr21 (real
					time auto tuning mode setting) to other than 1 - 3, 7), and make it en-
					abled again.
					• Refer to “Control of Vibration Damping” of Adjustment volume on page 211.

Torque Control Mode

Connections and Settings in

Note) Standard default setting in [ ] under "Setting range" and marked with * is automatically set during the real time auto gain tuning. To manually change the value, first disable the auto gain tuning feature be seeing page 196 "Disabling of auto tuning function" in Adjustments, and then enter the desired value.

149