153[Adjustment]Adjustment10 11 12 13 14 15 16 18 19 1A 1B 1C 1D 1EStandard value27 15 37 0 152 0 0 27 15 37 0 152 1500 2Title of parameter1st position loop gain 1st velocity loop gain 1st velocity loop integration time constant 1st speed detection filter 1st torque filter time constant Velocity feed forward Feed forward filter time constant 2nd position loop gain 2nd velocity loop gain 2nd velocity loop integration time constant 2nd speed detection filter 2nd torque filter time constant 1st notch frequency 1st notch width selection20 21 23 2B 2C 2D 2E 30 31 32 33 34 35 4C 4DStandard value100 0 0 0 0 0 0 0 0 0 0 0 0 1 0Title of parameterInertia ratio Real time auto tuning set up Adaptive filter mode 1st vibration suppression frequency 1st vibration suppression filter 2nd vibration suppression frequency 2nd vibration suppression filter 2nd gain action set up 1st control switching mode 1st control switching delay time 1st control switching level 1st control switching hysteresis Position loop gain switching time Smoothing filter FIR filter set upServo Parameter No. (SV.Pr**)Servo Parameter No. (SV.Pr**)Order1 2 3 4 5Standard value30 50 50 25 300Title of parameter How to adjustServo Parameter No. (SV.Pr**)SV.Pr11 SV.Pr14 SV.Pr10 SV.Pr12 SV.Pr151st velocity loop gain 1st torque filter time constant 1st position loop gain 1st velocity loop integration time constant Velocity feed forwardIncrease the value within the range where no abnormal noise and no vibrationoccur. 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 youwant to suppress vibration at stopping, setup larger value to SV.Pr14 andsmaller value to SV.Pr11. If you experience too large vibration right beforestopping, lower than value of SV.Pr14. Adjust this observing the positioning time. Larger the setup, faster thepositioning time you can obtain, but too large setup may cause oscillation. Setup this value within the range where no problem occurs. If you setupsmaller value, you can obtain a shorter positioning time, but too small valuemay cause oscillation. If you setup too large value, deviation pulses do notconverge 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 completesignal, hence does not shorten the settling time. You can improve by setting upSV.Pr16 (Feed forward filter time constant) to larger value.Adjustment in Position Control ModePosition 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.(2) Enter the inertia ratio of SV.Pr20. Measure the ratio or setup the calculated value.(3) Make adjustment using the standard values below.
