Panasonic minas a series Operating Manual page 57

Adjustments
Applicability of Automatic Adjustment
Item
Load inertia
Must be at least three times as large as the motor
inertia, but not greater than 20 times.
Load
• The machine (motor load) and its coupling must have a higher mechanical stiffness.
• The backlash of the gears and other equipment must be small.
• Eccentric load must be smaller than one-fourth of the rated torque.
• The viscous load torque must be smaller than one-fourth of the rated torque.
• Any oscillation must not cause any mechanical damages of the machine (motor load).
• Two CCW turns and subsequent two CW turns must in no case cause any troubles.
The auto gain tuning affects the values of the following six parameters.
Pr10
1st Position Loop Gain
Pr11
1st Velocity Loop Gain
Pr12
1st Velocity Loop Integration Time Constant
• Pr15 (Velocity Feed Forward) will be automatically changed to 0%, if the auto gain tuning is ex-
ecuted.
<Notes>
The auto gain tuning will be disabled when you select a control mode using an external scale, i.e.
Pr02 is set to 6, 7, 8, 9 or 10.
The real time auto gain tuning will be disabled in the following cases:
1) Running pattern at a constant speed
2) Running pattern with a small acceleration/deceleration
Relationship between Gain Adjustment and Mechanical Stiffness
To increase the mechanical stiffness,
1) The machine (motor load) should be firmly secured to a rigid foundation.
2) The coupling between the motor and machine should be a high-stiffness special
for servo motors.
3) The timing belt should have a larger width. The tension of the timing belt should be
according to the allowable axial load of the motor.
4) The gears should have a smaller backlash characteristic.
The inherent frequency (resonance) of the machine significantly affects the gain adjustment of the
•
servo motor. If the machine has a lower resonance frequency (i.e. lower stiffness), you can't set
the high response of the servo system.
Conditions
Pr13
1st Speed Detection Filter
Pr14
1st Torque Filter Time Constant
Pr20
Inertia Ratio
- 56 -
one designed
adjusted