Velocity Control Mode

Settings in Internal
Connections and
Adjustment
Page
Gain Adjustment.......................................................... 128
Objective of Gain Adjustment ................................................................ 128
Types of Gain Adjustment .....................................................................128
Procedures of Gain Adjustment ............................................................ 129

Adjustment
Real time Auto Gain Tuning ....................................... 130
Normal Auto Gain Tuning ........................................... 132
Cancellation of the Automatic Gain Tuning .............. 135
Manual Gain Tuning (Basic) ....................................... 136
Manual Gain Tuning (Application) ............................. 138
Gain Switching Function ....................................................................... 138
To Reduce Mechanical Resonance ...................................................... 140
Anti-Vibration Control ............................................................................142

127
Gain Adjustment
Objective of Gain Adjustment
It is necessary that the motor runs with the least delay time and in response to a command from the driver. Hence,
we need to adjust the gain of the motor to perform command, in order to maximize the performance of the machine.

<Example: Ball Screw>

Gain setting: low Gain setting: High + Feed forward setting

+2000 +2000

0 0
Actual motor speed
Command speed
-2000 -2000
(r/min) (r/min) 0.0 125 250 375 0.0 125 250 375 0.0 125 250 375

Position loop gain : 20 Position loop gain :100 Position loop gain : 100
Velocity loop gain :100 Velocity loop gain : 50 Velocity loop gain : 50
Velocity loop integration time constant : 50 Velocity loop integration time constant : 50 Velocity loop integration time constant : 50
Velocity feed forward : 0 Velocity feed forward : 0 Velocity feed forward : 500
Inertia ratio :100 Inertia ratio :100 Inertia ratio : 100

Types of Gain Adjustment

Refer
Functions Descriptions
to:
Estimates the load inertia of a machine at real-time, and
Real time auto gain tuning
automatically sets the optimum gain based on the result of P.130
estimation.
Automatic adjustment

Reduces resonance point vibration, by estimating the resonance

Adaptive filter frequency from vibration component that appears in the motor P.131
speed and automatically sets the notch filter.
Actuates the motor in a command pattern generated by the driver,
Normal auto gain tuning estimates the load inertia based on the torque required, and P.132
automatically sets the appropriate gain.
Cautions need to be followed when you disable real time auto gain
Cancellation of automatic gain tuning P.135
tuning or the adaptive filter.
Manually adjust when you cannot execute the auto gain tuning due
to constraints such as operating pattern/load conditions, etc., or
Manual gain tuning (basic) P.136
when you wish to ensure ultimate responsiveness appropriate to
the individual loads.
If you cannot satisfy the specifications through the basic
Manual gain tuning (application) adjustment, you can aim to improve performance by using the P.138
Manual adjustment

following applied functions:

You can execute the gain switching with internal data or external
signal as a trigger. This shows the effects of reduced vibration
Gain switching function P.138
under suspension, shortened stabilization time, improved
command trackability, etc.
You are not able to set a high gain when the mechanical stiffness
Suppression of mechanical is low or when vibration or noise is generated due to resonance
resonance that results from the twist of the shaft. In such case, you can P.140
suppress the resonance by using a torque filter or notch filter.
Reduces vibration at edge of the device, by removing the
Anti-vibration control P.142
components of the vibration frequency by the position command.

<Note>
• Pay adequate attention to safety.
• In case of oscillation (i.e., abnormal noise/vibration), promptly cut off the power or activate Servo-OFF.

128
 [Gain Adjustment]

Procedures of Gain Adjustment

The following flow chart illustrates the entire process of the gain adjustment:

Start adjustment

Do you select
auto tuning? No
Yes
P. 13500

Can you enter Release the automatic

a command? No P. 135 adjustment function
Yes Release the automatic
adjustment function

(Default setup) P. 130

P. 132

Real time auto gain tuning Normal auto gain tuning

Adaptive filter

Does it operate properly?

No
Yes

Does it operate properly?

No
Yes

P. 136

Manual gain tuning

Do load
characteristics Basic adjustment Gain switching
fluctuate? No
Yes Suppression of
P. 135 mechanical resonance
Cancel the automatic Anti-vibration control
adjustment function

Gain Adjustment
No
Does it operate properly?

Yes

Write into EEPROM

End of adjustment Consult with us

Relationship between Gain Adjustment and Mechanical Stiffness

• Vibration inherent in a mechanical system (i.e., resonance frequency) substantially affects the gain
adjustment of a servo. It is impossible to set high responsiveness for servo systems, for machine of low
resonance frequency (= low mechanical stiffness).
• Hence, in order to increase mechanical stiffness, check that:
(1) the machine has been installed on solid grounding and assembled fimly.
(2) the coupling in use is highly stiff and designed for a servo.
(3) a wide timing belt is used, and that tensile force has been set within the range of allowable axial load of the
motor.
(4) a gear with less backlash is used.

129
Real time Auto Gain Tuning
Automatic Automatic
Outline Position/speed
command
gain setting filter tuning Torque
command
Motor
current
Position/velocity Adaptive Current
control Motor
command filter
Load inertia of the machine is real-time estimated, and the Operation command under
actual service conditions

optimum gain is automatically set based on the result of Estimation of

resonance frequency
Estimation of load inertia
estimation. In addition, an adaptive filter automatically Real time auto gain tuning
Motor
suppresses vibration due to resonance. speed
Encoder
Servo driver

Scope
• Real time auto gain tuning is valid in all control modes.
• You can use an adaptive filter only when Pr02=2: high function positioning control.
Cautions
Under the following conditions, real time auto gain tuning may not properly function. In such cases, use either the
normal auto gain tuning (Refer to Page 132) or the manual gain tuning (Refer to Page 136).
Conditions that Hinder Real time Auto Gain Tuning from Functioning
When load inertia is smaller or greater than rotor inertia (i.e., 3 times or less or 20 times or more).
Load Inertia When load inertia changes quickly (less than 10 [s]).
Load When mechanical stiffness is extremely low. When there is play such as backlash.
When the motor runs at a continuous low speed below 100 [r/min].
Operation When acceleration/deceleration is gradual, e.g., 2000 [r/min] or less in 1 [s].
Pattern When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.
When the time that meets conditions of speed/acceleration is short, e.g., less than 40 [ms].

Operating Instruction
(1) Stop the motor (Servo-OFF).
Insert the connector of console into
(2) Set Pr21 (Real time auto tuning set-up) to 1 to 6. CNX6 of the driver, and then turn on
A default setup is 1. the power of the driver.
Setting parameter Pr21
Setting Real time Degree of Load Inertia Adaptive Filter
value Auto Tuning Changes in Service (When Pr02=2) Press S .
SET
0 Not used No
M .
Press MODE
[1] Little change
Select the parameter to be set with
2 Gradual change Yes
and .
3 Used Sharp change
(In this case, select Pr21.)
4 Little change
Press S .
5 Gradual change No SET

6 Sharp change Change the value with or .

7 Not used Yes Press S .

SET

When load inertia changes widely, set Pr21 to 3 or 6.

Setting parameter Pr22
If there is possibly effect of resonance is possible, select “adaptive filter Yes”.
Select Pr22 with .
S .
Press SET
(3) Turn the servo on to operate the machine as usual.
When you press , a value increases, (Default Setup Value)
(4) If you wish to improve responsiveness, gradually increase Pr22
and when you press , it decreases.
(Machine stiffness at auto tuning). In addition, if any abnormal
noise or oscillation occurs, set a value lower (e.g. 0 to 3). Now writing into EEPROM
(5) If you wish to save the result, write it into EEPROM. M .
Press MODE
<Remarks> S .
Press SET
Any change to Pr21 (Real time auto tuning set-up) will become
Keep pressing (about 5 seconds).
valid when you turn on the power and when Servo-OFF switches to Then, the number of bars in creases
Servo-ON. as shown on the right.

Thus, to disable real time auto tuning, set Pr21 (Real time auto
Start of write (indicated momentarily).
tuning mode setting) to 0, and then switch from Servo-OFF to
Servo-ON. Similarly, when you activate the real time auto tuning,
End
set Pr21 to any value other than 0 and 7, and switch from Servo-
OFF to Servo-ON. Write finishes Write error occurs
After finishing write, return to Selection
Display referring to "Structure of Each
Mode" (Page 48 and 49).

130
 [Gain Adjustment]

Adaptive Filter
Filters are effective when Pr02=2 (high-grade position control mode) and Pr21 is 1 to 3 or 7.
The adaptive filter reduces the resonance point vibration, by estimating resonance frequency from the vibration
component that appears at the motor operation, and removes the resonance component by torque command
through automatic setting of a coefficient of a notch filter.
The adaptive filter may not function normally under the following conditions. In such cases, use the anti-resonance
measures of 1st notch filter (Pr1D, 1E) according to the manual tuning procedure.
For details of the notch filter, refer to “To Reduce Mechanical Resonance” in Page 140.
Conditions that Hinder an Adaptive Filter from Functioning
When the resonance frequency is 300 [Hz] or lower.
Resonance Point When resonance peak or control gain is low, which does not affect the motor speed
When there is more than one resonance point
Load When the motor speed having high frequency component fluctuates due to nonlinear element such as backlash, etc.
Command Pattern When acceleration or deceleration is exponential such as 30000 [r/min] or more in 1 [s]

Parameters to be Set Automatically

The following parameters are tuned automatically. The following parameters are also set up to the following fixed values automatically.
PrNo. Name PrNo. Name Setting
10 1st position loop gain 15 Velocity feed forward 300
11 1st velocity loop gain 16 Feed forward filter time constant 50
12 1st velocity loop integration time constant 30 2nd gain action set-up 1
13 1st speed detection filter 31 Position control switching mode 10
14 1st torque filter time constant 32 Position control switching delay time 30
18 2nd position loop gain 33 Position control switching level 50
19 2nd velocity loop gain 34 Position control switching hysteresis 33
1A 2nd velocity loop integration time constant 35 Position loop gain switching time 20
1B 2nd speed detection filter
1C 2nd torque filter time constant
20 Inertia ratio
2F Adaptive filter frequency

Gain Adjustment
<Remarks>
When real time auto tuning is in effect, you are not allowed to change any parameter to be automatically tuned.

Cautions
(1) After startup, immediately following the first Servo-ON or when you increase Pr22 (auto tuning), you may have
abnormal noise or oscillation before you identify load inertia or an adaptive filter is stabilized. However, this
doesn’t constitute abnormality if it disappears in no time. If oscillation or noise persists over 3 reciprocating
operations, you should take any of the following measures in any possible order:
1) Write into EEPROM parameters used during normal operation.
2) Decrease Pr22 (auto tuning).
3) Once set Pr21 (real time auto tuning mode setting) to 0 and disable an adaptive filter. Then, enable real time
auto tuning again (To disable inertia estimation/resetting of adaptive operation, or real time auto tuning, refer
to “Cancellation of the Automatic Gain Tuning” on Page 135).
4) Manually set a notch filter (Refer to “To Reduce Mechanical Resonance” on Page 140).
(2) In some cases, after abnormal noise or oscillation is generated, Pr20 (inertia ratio) or Pr2F (adaptive filter
frequency) may change to an extreme value. In such cases, you should take the measures described above.
(3) Among results of real time auto gain tuning, Pr20 (inertia ratio) and Pr2F (adaptive filter frequency) are written
into EEPROM every 30 minutes. When you power up again, auto tuning will be carried out using the data as an
initial value.

131
Normal Auto Gain Tuning
Outline Position command Motor acceleration
Normal mode auto
gain tuning
In normal auto gain tuning, the motor runs at a command pattern Estimation of
load inertia
automatically generated by the driver, load inertia is estimated
Automatic
Motor
based on the torque required then, and thus appropriate gain is Generation of an
internal position
gain tuning Torque
Position/ command Current current
command
Motor
velocity control control
automatically set.
Motor torque

Motor
speed
Encoder
Servo driver
Scope
This feature functions under the following conditions:

Conditions under which normal auto gain tuning works

Pr02=0 (high speed response positioning control), Pr02=2 (high function positioning control), and
Control mode
Pr02=1 (internal velocity control) They can be used in all control modes.
It should be in Servo-ON state.
Input signal
No deviation counter clear signal has been entered.

Cautions
Under the following conditions, normal auto gain tuning may not function properly. In such cases, set the manual
gain tuning.

Conditions that hinder operation of normal auto gain tuning

When it is smaller or greater than rotor inertia
Load inertia (less than 3 times, or more than 30 times)
When load inertia is fluctuated.
When mechanical stiffness is extremely low.
Load
When there is backlash or play, etc.

• If abnormal Servo-OFF/deviation counter clear occurs during auto gain tuning operation, tuning error will be
generated.
• If load inertia cannot be estimated even though auto gain tuning has been executed, gain will remain un-
changed, namely, same as a value prior to tuning.
• Motor output torque during auto gain tuning operation may be allowed up to output torque set with Pr5E
(torque limit set-up), while CW and CCW overtravel inhibit will be ignored.

Pay adequate attention to safety. In case of oscillation, promptly cut off the power or turn on
Servo-OFF and reset gain to default setup through setting of parameters.

Auto Gain Tuning Operation

(1) In normal auto tuning, responsiveness is set in terms of mechanical stiffness No.

Mechanical Stiffness No.

• The number sets level of mechanical stiffness of a user machine and is represented by a value from 0 to
15.
The higher mechanical stiffness a machine has, the higher you can increase this number and set gain.
• Usually, set stiffness No. in ascending order and execute auto gain tuning. Use the function as far as
oscillation/abnormal noise/vibration does not occur.

(2) An operating pattern you set with Pr25 (normal auto tuning motion set-up) is repeated up to 5 cycles. In
addition, acceleration of operation is doubled for every cycle after a third cycle. Depending on load state, the
operating pattern may end without being repeated 5 cycles, or acceleration of operation may not rise. This,
however, does not constitute abnormality.

132
 [Gain Adjustment]

Operating Instructions
(1) Set an operating pattern with Pr25.
(2) Shift load to a position where there will be no problem if the motor executes the operating pattern set with
Pr25.
(3) Do not enter a command.
(4) Activate Servo-ON.
(5) Start auto gain tuning.
Do so by using a console or PANATERM®.
For operating instructions with the console, see a next page.
(6) Adjust mechanical stiffness No. so that you can have desired response at a level that results in no vibration.
(7) If you have no problem with the result, write it into EEPROM.

Parameters to be automatically set

Auto gain tuning table

Parameter Stiffness Value

Name
No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Pr10 1st position loop gain 27 32 39 48 63 72 90 108 135 162 206 251 305 377 449 557
Pr11 1st velocity loop gain 15 18 22 27 35 40 50 60 75 90 115 140 170 210 250 310
Pr12 1st velocity loop integration time constant 37 31 25 21 16 14 12 11 9 8 7 6 5 4 4 3
Pr13 1st speed detection filter 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Pr14 1st torque filter time constant 152 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10
Pr15 Velocity feed forward 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300 300
Pr16 Feed forward filter time constant 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
Pr18 2nd position loop gain 31 38 46 57 73 84 105 126 157 188 241 293 356 440 524 649
Pr19 2nd velocity loop gain 15 18 22 27 35 40 50 60 75 90 115 140 170 210 250 310
Pr1A 2nd velocity loop integration time constant 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000 1000
Pr1B 2nd speed detection filter 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Pr1C 2nd torque filter time constant 152 126 103 84 65 57 45 38 30 25 20 16 13 11 10 10
Pr.20 Inertia ratio Estimated load inertia ratio
Pr30 2nd gain set-up 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1

Gain Adjustment
Pr31 Position control switching mode 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10
Pr32 Position control switching delay time 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30 30
Pr33 Position control switching level 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50 50
Pr34 Position control switching hysteresis 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33 33
Pr35 Position loop gain switching time 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20

shows parameters that are set to a fixed value. A default setup stiffness is 4.

133
Normal Auto Gain Tuning
How to Operate with Console
(1) Switch from monitor mode to normal auto
Motor rotation speed
gain tuning mode, by pressing SET button
and then mode switch button 3 times. indication (Initial display)
For operating instructions, refer to Normal
Auto Gain Tuning Mode on Page 58 of
Preparation edition.
Mechanical Stiffness No.
(2) Select mechanical stiffness No. by pressing or .

Mechanical Stiffness No. (High) Mechanical

Driving method Stiffness No.
Press , and a value will change in the Direct connection with ball screw 8 - 14
direction shown by the arrow. Ball screw + timing belt 6 - 12
Press , and a value will change in the Timing belt 4 - 10
reverse direction. Gear, rack and pinion 2-8
Mechanical Stiffness No. (Low) Other machines with low stiffness 0-8

(3) Pressing , shift to monitor/execution mode.

(4) Activate Servo-ON state (Do not enter a command).

(5) Operations in monitor/execution mode

Press till display of changes to
.
When you keep pressing (about 3 seconds),
horizontal bars will increase, as shown in the
right figure.

The motor has started to rotate. When Pr25 = 0,

the motor rotates twice in CCW/CW directions for
about 15 seconds, which is considered 1 cycle.
The motor can repeat cycles up to 5 times. Even
when it terminates before fifth cycle, it is not
abnormality.

(6) Repeat steps 2 to 5 above until you receive a

satisfactory response, and write a gain value to
EEPROM so that it will not be lost due to cutoff of
power supply.

<Caution> Do not use normal auto gain tuning with the motor/driver on a standalone basis. If you do so,
<Remarks> Pr20 (inertia ratio) will be 0.
Condition Cause Step to take
• Error is displayed. Any of alarm, Servo-OFF or • Remove a factor of alarm.
• The motor does not rotate. deviation counter clear has • Activate Servo-ON.
occurred. • Release the deviation counter clear.
• A value related to gain such as Load inertia cannot be • Decrease Pr10 to 10 and Pr11 to 50 and execute again.
Pr10 remains unchanged from estimated. • Make manual adjustment.
a value prior to execution.

134
Cancellation of the Automatic Gain Tuning [Gain Adjustment]
Outline
Cautions required when you disable the real time auto gain tuning which was unabled by default setup or an
adaptive filter are stated.

Cautions

Cancel of the automatic adjustment function, at Servo-OFF.

Disabling Real time Auto Tuning

When you change Pr21 (real time auto tuning set-up) to 0 or 7 (only adaptive filter enabled), automatic
estimation of Pr20 (inertia ratio) will stop and real time auto tuning will be disabled.
(Note, however, that the change will take effect when you activate Servo-ON again after turning on Servo-OFF
once.)
Estimation result of Pr20 (inertia load) will be saved. Thus, if you notice this parameter has been apparently set
to an extraordinary value, use normal auto tuning after disabling, or manually set a reasonable value obtained
from calculation, etc.

Disabling Adaptive Filter

When you set Pr21 (real time auto tuning set-up) to 0 or 4 to 6 (only real time auto tuning enabled), the adaptive
filter feature that automatically track load resonance will stop.
However, if you disable the adaptive filter while it is normally functioning, effects of resonance that have been
suppressed may appear and cause abnormal noise/vibration, etc.
Therefore, if you disable the adaptive filter, do so only after manually setting Pr1D (1st notch frequency) from
Pr2F (adaptive filter frequency) by means of the following table:

Pr2F 1st Notch Frequency [Hz] Pr2F 1st Notch Frequency [Hz] Pr2F 1st Notch Frequency [Hz]
0 (Disabled) 22 766 44 326
1 (Disabled) 23 737 45 314
2 (Disabled) 24 709 46 302
3 (Disabled) 25 682 47 290

Gain Adjustment
4 (Disabled) 26 656 48 279
5 1482 27 631 49 269 (Disabled when Pr22 ≥ 15)
6 1426 28 607 50 258 (Disabled when Pr22 ≥ 15)
7 1372 29 584 51 248 (Disabled when Pr22 ≥ 15)
8 1319 30 562 52 239 (Disabled when Pr22 ≥ 15)
9 1269 31 540 53 230 (Disabled when Pr22 ≥ 15)
10 1221 32 520 54 221 (Disabled when Pr22 ≥ 14)
11 1174 33 500 55 213 (Disabled when Pr22 ≥ 14)
12 1130 34 481 56 205 (Disabled when Pr22 ≥ 14)
13 1087 35 462 57 197 (Disabled when Pr22 ≥ 14)
14 1045 36 445 58 189 (Disabled when Pr22 ≥ 14)
15 1005 37 428 59 182 (Disabled when Pr22 ≥ 13)
16 967 38 412 60 (Disabled)
17 930 39 396 61 (Disabled)
18 895 40 381 62 (Disabled)
19 861 41 366 63 (Disabled)
20 828 42 352 64 (Disabled)
21 796 43 339

<Remarks>
When Pr2F is 49 or higher, the adaptive filter may have been disabled automatically, depending on Pr22
(Machine stiffness at auto tuning). In such a case, you do not have to manually set Pr1D.

135
Manual Gain Tuning (Basic)
Although MINAS-E series is equipped with the auto gain tuning function described above, you may have to readjust
when you cannot successfully adjust gain even if you execute auto gain tuning, due to some constraint such as load
conditions, etc., or when you wish to have the best responsiveness or stability appropriate to individual loads.
In this section, in order to cope with such cases, we describe the manual gain tuning that allows you to adjust gain
manually.

Prior to Manual Adjustment

If you use a console, you can make adjustment while checking behavior or sound of the motor (machine).
However, we recommend that you conduct waveform observation by using waveform graphic function of the
setup support software PANATERM® for more accurate adjustment, because it enables you to display, as
waveform, a command to the motor, motor speed, torque, deviation pulse on the display screen of your personal
computer. For detailed information, refer to “Outline of Setup Support Software PANATERM®” on Page 156 of
Reference edition.
RS-232C
STATUS ALM CODE
Connecting Cable
x6

x5

Setup Support Software

x4
PANATERM ‚
x3

M
MODE

SHIFT
S
SET

x1

Console

Functions Available in Each Control Mode

In each control mode, you can use the functions listed in the table below:
Anti-Vibration
Basic Gain Control Switching Anti-Vibration
Pr02 Control Mode Adjustment Switching Control Switching
Torque Filter Notch Filter
0 High speed response positioning * *

1 Internal speed
2 High function positioning

<Remarks>
* In high speed response positioning control mode, simultaneous use of a notch filter and anti-vibration
control is not allowed. A parameter entered earlier takes precedence.
(Example) When you set anti-vibration control, Pr1D: notch frequency will be forcibly set to 1500 (disabled)
even if you enter it.
• Note that customers cannot set adjustment of current loop gain.

136
 [Gain Adjustment]
Method of Adjustment in Position Control Mode
(1) Set the following parameters to values listed in the table below:
Parameter No. Target Parameter No. Target
(Pr ) Parameter Name (Pr ) Parameter Name Value
Value
10 1st position loop gain 27 20 Inertia ratio 100
11 1st velocity loop gain 15 21 Real time auto tuning set-up 0
12 1st velocity loop integration time constant 37 2B Damping frequency 0
13 1st speed detection filter 0 2C Damping filter setting 0
14 1st torque filter time constant 152 30 2nd gain action set-up 0
15 Velocity feed forward 0 31 Position control switching mode 0
16 Feed forward filter time constant 0 32 Position control switching delay time 0
18 2nd position loop gain 27 33 Position control switching level 0
19 2nd velocity loop gain 15 34 Position control switching hysteresis 0
1A 2nd velocity loop integration time constant 37 35 Position loop gain switching time 0
1B 2nd speed detection filter 0 4C Smoothing filter set-up 1
1C 2nd torque filter time constant 152 4E FIR filter set-up 0
1D 1st notch frequency 1500
1E 1st notch width selection 2

(2) Enter Pr20 inertia ratio. Measure with auto tuning or set a calculated value.
(3) Using the following table as target values, make adjustment.
Parameter No. Target
Order (Pr ) Parameter Name Interpretation of Adjustment
Value
You can increase a value as far as no abnormal noise/vibration is generated. If
1 Pr11 1st velocity loop gain 30
abnormal noise is heard, decrease it.
If vibration is generated when you change Pr11, use a different value.
1st torque filter time Make a value of Pr11 setting x Pr14 setting smaller than 10000. If you wish to
2 Pr14 50
constant suppress vibration in halt condition, increase Pr14 and decrease Pr11. If
vibration immediately before halt overshoots, decrease Pr14.
Make adjustment while looking at positioning time. If you increase a value,
3 Pr10 1st position loop gain 50 positioning time will be shorter. If you set it too high, oscillation with trembling
will be generated.
OK if there is no abnormal behavior. If you set a lower value, positioning time
1st velocity loop
will be shorter. However, if you set it too low, oscillation will be generated.
4 Pr12 integration time 25
When you set it high, in some cases, deviation pulse will be left indefinitely
constant
without being converged.
You can increase a value as far as no abnormal noise/vibration is generated.
If you set too much feed forward, it will lead to generation of overshoot or

Gain Adjustment
5 Pr15 Velocity feed forward 300 chattering of a positioning complete signal, and as a result, stabilization time
may not be reduced. If command pulse input is not uniform, you may improve it
by setting Pr16 (feed forward filter) higher.

How to Adjust the Internal Velocity Control Mode

Adjustable parameters are velocity loop gain, velocity loop integration time constant, and torque filter time
constant. Make adjustment in according to (3) of “Method of Adjustment in Position Control Mode” described
above, Pr11 1st velocity loop gain, Pr14 1st torque filter time constant, and Pr12 1st velocity loop integration time
constant.

137
Manual Gain Tuning (Application)
Gain Switching Function
In manual gain switching mode, you can Operation Command speed
manually set a second gain in addition to a 1st
gain, and execute gain switching depending on Stopped Drive Stopped Time
State (servo lock) (servo lock)
an operating state. Low gain High gain Low gain
• When you wish to accelerate responsiveness Suppress vibration Gain (1st gain) (2nd gain) (1st gain)
by increasing gain during operations by reducing gain 1ms 2ms

• When you wish to improve stiffness of servo lock by increasing gain in halt condition
• When you wish to switch to optimal gain, depending on an operation mode
• When you wish to decrease gain to suppress vibration under suspension
You can use the function of switching from a 1st to 2nd gain for various applications.

<Example>
This is an example of when you’ve noticed sound when the motor is halted (servo lock) or when you
reduce noise by switching to low gain setting after the motor is stopped.
Make adjustment, also referring to Auto Gain Tuning Table (on Page 133).
Set Pr18 to Pr1C
Parameter No. Execute manual gain Set Pr30 to Pr35 Adjust Pr11 and Pr14
(2nd gain) to a same
(Pr ) Parameter Name tuning without gain (gain switching in halt condition (1st
value as Pr10 to Pr
switching. conditions). gain).
14 (1st gain).

Pr10 1st position loop gain 63

Pr11 1st velocity loop gain 35 27
1st velocity loop
Pr12 integration time constant 16
Pr13 1st speed detection filter 0
Pr14 1st torque filter time constant 65 84
Pr15 300
Pr16 50
Pr18 2nd position loop gain 63
Pr19 2nd velocity loop gain 35
2nd velocity loop
Pr1A integration time constant 16
Pr1B 2nd speed detection filter 0
Pr1C 2nd torque filter time constant 65
Pr30 2nd gain action set-up 0 1
Pr31 Position control switching mode 7
Pr32 30
Pr33 0
Pr34 0
Pr35 0
• Enter a numeric value when it
is known by load calculation,
etc.
Pr20 Inertia ratio
• Execute normal auto tuning to
measure inertia ratio.
• A default is 100.

Setting Gain Switching Conditions

Position Control Mode : Applicable parameters are enabled –: Disabled
Set parameters in position mode
Setting of gain switching conditions
Delay time*1 Level Hysteresis*2
Pr31 Switching conditions Figure Pr32 Pr33 Pr34
0 Fixed to the 1st gain – – –
1 Fixed to the 2nd gain – – –
2 Gain switching input. 2nd gain when GAIN turns on – – –
3 Torque command 2nd gain when A *3 *3
there is much variation [0.05%/166 ms] [0.05%/166 ms]
4 Fixed to the 1st gain – – –
5 Velocity command C [r/min] [r/min]
6 Position deviation D *4[pulse] *4[pulse]
7 Position command E – –
8 Positioning not completed F – –
9 Motor real speed A [r/min] [r/min]
10 Command + speed G [r/min] *5 [r/min] *5

138
 [Gain Adjustment]
*1 Delay time (Pr32) will be validated upon return from second gain to first gain.
*2 Definition of hysteresis (Pr34) is as illustrated in the figure below:
*3 If the condition that there is torque variation of 10% during 166 µs is included, setting should be
200.
10% / 166 µs = setting 200 x (0.05% / 166 µs)
*4 Resolution of the encoder
*5 When Pr31=10, delay time, level and hysteresis mean differently from usual cases (See Figure G).

Hysteresis
(Pr34) H

Level
L
(Pr33)
0

Figure A Command speed S Figure C Command speed S Figure E

Speed N
Level

Delay Delay
Torque T 1st 2nd gain 1st 1st 2nd gain 1st

Figure D Figure F
Speed N Speed N
Level

Deviation pulse
Delay
1 2 2 1st gain 2 2 1 Level COIN
1 1
Delay Delay
1st 2nd gain 1st 1st 2nd gain 1st

Gain Adjustment
There is There is no command pulse | Actual speed |< Figure G
command pulse x Pr32 delay time Pr 33 level

When stopped During operation When stabilized Close to stop

Only speed integration is 2nd
1st gain 2nd gain 2nd gain gain, while others are 1st gain.

| Actual speed | < (Pr33 level – Pr34 Hysteresis)

| Actual speed | < (Pr33 level – Pr34 Hysteresis)

<Caution>
Any lag in gain switching timing due to hysteresis (Pr34) is not reflected in the above figure.

139
Manual Gain Tuning (Application)
To Reduce Mechanical Resonance
When mechanical stiffness is low, vibration or noise is generated due to the torsion of shaft, and thus you may not
be able to set the gain high. In such cases, you can suppress the resonance by using the following 2 types of
filters.

1. Torque Command Filter (Pr14, Pr1C)

Set a filter time constant so that the attenuation will take place around the resonance frequency. You can
determine the cutoff frequency with the following expression:
Cutoff frequency (Hz) fc
1/ (2π x parameter setting x 0.00001)

2. Notch filter
Adaptive filter (Pr21, Pr2F)
By using an adaptive filter, MINAS-E series can control the vibration in load that is difficult for a conven-
tional notch filter or torque filter to control, such as different resonance points for every device. However,
you can enable the adaptive filter by setting Pr21 (Real time auto tuning set-up) to 1 to 3 or 7 when Pr02=2.

Pr21 Real time auto 1 - 3, 7: Adaptive filter enabled. Pr2F Adaptive filer It shows a table No. that
tuning set-up frequency corresponds to adaptive filter
frequency (change prohibited).

1st notch filter (Pr1D, Pr1E)

Match notch frequency of a notch filter to mechanical resonance frequency.

Pr1D 1st notch Set this value about 10% lower than Pr1E 1st notch width Set this in accordance with
frequency the resonance frequency measured selection characteristics of resonance
with the frequency characteristic points.
analysis function of PANATERM®.

Machine characteristics at resonance Machine characteristics at resonance

Resonance

Gain

Antiresonance

Frequency Frequency
Characteristics of notch filter Characteristics of torque command filter

–3dB
Gain

Notch
f f
Frequency Cutoff frequency Frequency
Approx. 0.9f
Set this slightly lower

Resonance peak Resonance peak

will disappear will drop

Antiresonance Antiresonance
Frequency Frequency

140
 [Gain Adjustment]

Examples of adaptive devices

Gain Gain Gain

Frequency Frequency

Frequency

Speed response
Devices resonance points of which Devices having resonance peak in
vary depending on individual Devices having a resonance point frequency spectrum remote from
differences/aging frequency of which does not change speed response

Tracking a resonance point Possible to suppress a large Reducing resonance peak in

and instantly suppressing resonance point frequency of high frequency spectrum
which does not change altogether

Width

Torque –3dB Torque command

command after filtering

Automatic frequency tracking Frequency Cutoff frequency

Adaptive filter Notch filter Torque filter

Method of Checking Resonance Frequency of a Mechanical System

(1) Using “PANATERM®”, setup support software, display frequency characteristics.
(2) Set parameters and measurement conditions. Values are just benchmarks.
• Set Pr11 (1st velocity loop gain) to about 25. (By reducing gain, make resonance frequency easily
identifiable.)
• Set amplitude to approximately 50 (r/min). (This is because torque cannot be saturated.)
• Set offset about 100 (r/min). (By increasing speed detection information, rotate the motor in a given
direction.)

Gain Adjustment
• When the polarity is positive (+), the motor rotates in CCW direction. When it is negative (-), the motor
rotates in CW direction.
• Set sampling rate to 1. (Settings range from 0 to 7.)
(3) Execute frequency characteristics analysis.

<Note>
• Before starting the measurement, ensure that limit of movement must not be exceeded.
Target rotation volume (rotation) is:
Offset (r/min) x 0.017 x (sampling rate + 1).
When you increase offset, you will obtain good measurement result. However, rotation volume will grow.
• When you measure, set Pr22 (Real time auto tuning set-up) to 0.
<Remarks>
• You will have good measurement result when you set offset greater than setting of amplitude and so that the
motor always turns in one direction.

141
Manual Gain Tuning (Application)
Anti-Vibration Control

Outline The leading end

vibrates
Vibration observed by a
When the leading end of a device vibrates, the function displacement sensor

removes vibration frequency component from a command Set vibration frequency at a leading end
Driver
Motor
Movement
and reduces vibration.
Coupling Movable Ball
screw Machine
Sequencer body
pedestal
Position Torque Motor
command Vibration
damping Position Velocity command Current current
filter Motor Load
Control control

Motor position
Encoder

Scope Servo driver

This function cannot apply unless the following conditions are met:
Conditions under which anti-vibration control works
It shall be position control.
Pr02=0: In high speed response positioning control, real time auto tuning and first notch filter are
Control mode
disabled.
Pr02=2: High function positioning control

Cautions

Change the parameter setting, after the operation stops.

The motor may not function normally or take effect under the following conditions:
Conditions that hinder anti-vibration control
When vibration is energized by a factor (such as external force) other than command
Load When the ratio of resonance frequency and antiresonance frequency is large
When vibration frequency is high (100 [Hz] or higher)

Usage
(1) Setting vibration damping frequency (Pr2B)
Measure vibration frequency at a leading end of a device. If you can
directly measure vibration at leading end by means of a laser Position deviation
Command
displacement gauge, etc., read vibration frequency [Hz] from the speed
Calculate vibration
measured waveform and enter it into vibration damping frequency frequency
(Pr2B).
In addition, if you do not have a measuring instrument, read
frequency [Hz] of residual vibration from position deviation waveform
by using the waveform graphic function of our setup support
software “PANATERM®”, as shown in the right figure, and set the vibtation
damping frequency. Setting 0 to 99 will be disabled.

(2) Setting vibration damping filter (Pr2C)

First set it to 0. Pr2C is appropriate Pr2C is high
You can shorten the stabilization time by Torque saturation
setting a higher value. However, torque
ripple increases at a command change point,
as shown in the right figure. Thus, under
actual use conditions, set it so that no torque Torque command
saturation will occur. Occurrence of torque
saturation will diminish vibration suppression
effect.

142