Parameters For Auto-Gain Tuning - Panasonic minas a4 series Instruction Manual

Parameter Setup
PrNo. Title
1E 1st notch width
selection

Parameters for Auto-Gain Tuning

PrNo. Title
20 Inertia ratio
21 Setup of real-time
auto-gain tuning
22 Selection of
machine stiffness
at real-time
auto-gain tuning
178
Setup
Unit
range
0 to 4 – You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.
<2> Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
Setup
Unit
range
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
0 to 10000 %
<250>*
Pr20=(load inertia/rotor inertia) X 100 [%]
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of Pr11 and Pr19
becomes (Hz). When the inertia ratio of Pr20 is larger than the actual, the
setup unit of the velocity loop gain becomes larger, and when the inertia
ratio of Pr20 is smaller than the actual, the setup unit of the velocity loop
gain becomes smaller.
0 to 7 –
You can set up the action mode of the real-time auto-gain tuning.
With higher setup such as 3, the driver respond quickly to the change of
<1>
the inertia during operation, however it might cause an unstable operation.
Use 1for normal operation.
Setup value
<1>, 4, 7
You can set up the machine stiffness in 16 steps while the real-time auto-
0 to 15 –
gain tuning is valid.
A to C-frame:
<4>
D to F-frame:
<1>
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine.
gradually watching the movement of the machine.
Function/Content
Function/Content
Real-time
auto-gain tuning
0 Invalid
2, 5 Normal mode
3, 6
low machine stiffness
low servo gain
Pr22 0, 1- - - - - - - - - - - - 14, 15
low response
Standard default : < >
Standard default : < >
Varying degree of
load inertia in motion
–
Little change
Gradual change
Rapid change
high
high
high
Increase the setup