Panasonic minas a4 series Instruction Manual

Also see for Minas A4 Series: Features Connection guide Technical reference

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Panasonic minas a4 series Instruction Manual Manual pdf 143 page image

141[Connection and setup of velocity control mode]Connection and Setup ofVelocity Control ModeAdaptive FiltersThe adaptive filter is validated by setting up Pr23 (Setup of adaptive filter mode) to other than 0.The adaptive filter automatically estimates a resonance frequency out of vibration component presented in the motor speedin motion, then removes the resonance components from the torque command by setting up the notch filter coefficientautomatically, hence reduces the resonance vibration.The adaptive filter may not operate property under the following conditions. In these cases, use 1st notch filter (Pr1D and 1E)and 2nd notch filter (Pr28-2A) to make measures against resonance according to the manual adjusting procedures.For details of notch filters, refer to P.246, "Suppression of Machine Resonance" of Adjustment.PrNo.11121314191A1B1C202FTitle1st gain of velocity loop1st time constant of velocity loop integration1st filter of velocity detection1st time constant of torque filter2nd gain of velocity loop2nd time constant of velocity loop integration2nd filter of speed detection2nd time constant of torque filterInertia ratioAdaptive filter frequencyPrNo.273031323334360103050330Title Setup valueSetup of instantaneous speed observer2nd gain setup1st mode of control switching1st delay time of control switching 1st level of control switching 1st hysteresis of control switching2nd mode of control switchingParameters Which Are Automatically Set Up.Following parameters are automatically adjusted. Also following parameters are automatically set up.Resonance pointCommand patternLoadConditions which obstruct adaptive filter action• When resonance frequency is lower than 300[Hz].• While resonance peak is low or control gain is small and when no affect from these condition is given to the motor speed.• When multiple resonance points exist.• When the motor speed variation with high frequency factor is generated due to non-linear factor such as backlash.• When acceleration/deceleration is very extreme such as more than 30000 [r/min] per 1 [s].• When the real-time auto-gain tuning is valid, you cannot change parameters which are automatically adjusted.• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-GainTuning Mode) is 1 to 6, and becomes 0 in other cases.Even though Pr23 is set up to other than 0, there are other cases when adaptive filter is automaticallyinvalidated. Refer to P.235, "Invalidation of adaptive filter" of Adjustment.Cautions(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or when you increase thesetup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until load inertia is identified (estimated) or adaptivefilter is stabilized, however, these are not failures as long as they disappear immediately. If they persist over 3 reciprocatingoperations, take the following measures in possible order.1) Write the parameters which have given the normal operation into EEPROM.2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0, then set up other valuethan 0. (Reset of inertia estimation and adaptive action)4) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode setup) to 0, and set up notch filter manually.(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed toextreme values. Take the same measures as the above in these cases.(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROMevery 30 minutes. When you turn on the power again, auto-gain tuning will be executed using the latest data as initial values.(4) When you validate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be invalidated automatically.(5) The adaptive filter is normally invalidated at torque control, however, when you select torque control while you set up Pr02(Control mode setup) to 4 and 5, the adaptive filter frequency before mode switching will be held.(6) During the trial run and frequency characteristics measurement of "PANATERM®", the load inertia estimation will be invalidated.