Panasonic A4P Series User Manual

60

Standard default : < >

13

0 to 5

<0>*

–

1st speed 

detection filter

You can set up the time constant of the low pass filter (LPF) after the 

speed detection, in 6 steps. Higher the setup, larger the time constant you 

can obtain so that you can decrease the motor noise, however, response 

becomes slow. Use with a default value of 0 in normal operation.

This setting is invalid if SV.Pr27 (Velocity observer) is enabled.

15

–2000

 to 2000

<300>*

0.1%

Velocity feed 

forward

You can set up the velocity feed forward volume at position control.

Use when high-speed response is required.

16

0 to 6400

<50>*

0.01ms

Feed forward filter 

time constant

You can set up the time constant of 1st delay filter inserted in velocity feed 

forward portion.

14

0 – 2500

A to C-frame:<65>*

D to F-frame:<126>*

0.01ms

1st torque filter time 

constant

You can set up the time constant of the 1st delay filter inserted in the 

torque command portion. You might expect suppression of oscillation 

caused by distortion resonance.

1D

100 to 1500

<1500>

Hz

1st notch 

frequency

Specify the frequency of the 1st resonance suppressing notch filter. Use it 

according to the machine resonance frequency.

If this parameter is set to “1500”, the notch filter function is disabled.

This parameter may be changed depending on the adaptive filter settings. 

1E

0 to 4

<2>

–

1st notch width 

selection

You can set up the notch filter width of the 1st resonance suppressing 

filter in 5 steps.

Higher the setup, larger the notch width you can obtain.

This parameter may be changed depending on the adaptive filter 

operation. If it is combined with the adaptive filter, use the 2nd notch filter.

18

19

1A

1B

1C

0 to 3000

A to C-frame:<73>*

D to F-frame:<38>*

1 to 3500

A to C-frame:<35>*

D to F-frame:<18>*

1 to 1000

<1000>*

0 to 5

<0>*

0 to 2500

A to C-frame:<65>*

D to F-frame:<126>*

1/s

Hz

ms

–

0.01ms

2nd position loop 

gain

2nd velocity loop 

gain

2nd velocity loop 

integration time 

constant

2nd speed 

detection filter

2nd torque filter 

time constant

Set when performing optimum tuning using the gain switching function.

Set the second loop gain for position control.

Set when performing optimum tuning using the gain switching function.

When SV.Pr20 (Inertia ratio) has been set correctly, the set time is “Hz”.

Set when performing optimum tuning using the gain switching function.

When using in a vertical axis, to keep the integration value, set “999”.

To disable the integration, set “1000”.

Set when performing optimum tuning using the gain switching function.

If you increase the value, the motor noise reduces.

This setting is disabled if the instantaneous speed observer is enabled 

(SV.Pr27 = 1).

Set when performing optimum tuning using the gain switching function.

Set the time constant of 1st delay filter of the torque command.

27

(P)

0 to 1

<0>*

–

Velocity observer

With a high stiffness machine, you can achieve both high response and 

reduction of vibration at stall, by using this instantaneous speed observer.

 <0>*

1

Invalid 

Valid

You need to set up the inertia ratio of SV.Pr20 correctly to use this function.

If you set  up SV.Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), SV.Pr27 becomes 0 (invalid).

28

100 to 1500

<1500>

Hz

2nd notch 

frequency

You can set up the 2nd notch width of the resonance suppressing filter in 

5 steps. The notch filter function is invalidated by setting up this parame-

ter to "1500".