Panasonic minas a4 series Instruction Manual page 239

Auto-Gain Tuning Action
(1) In the normal mode auto-gain tuning, you can set up the response with machine stiffness No..
Machine stiffness No.
• Represents the degree of machine stiffness of the customer's machine and have values from o to 15.
You can set a higher No. to the high stiffness machine and set up a higher gain.
• Usually start setting up with a lower value and increase gradually to repeat auto-gain tuning in the
range where no oscillation, no abnormal noise, nor vibration occurs.
(2) This tuning repeats max. 5 cycles of the action pattern set with Pr25 (Normal mode auto-gain tuning
action). Action acceleration will be doubled every one cycle after third cycle. Tuning may finish, or action
acceleration does not vary before 5th cycle depending on the load, however, this is nor an error.
How to Operate
(1) Set up the action pattern with Pr25.
(2) Shift the load to the position where no hazard is expected even though the action pattern which is set
with Pr25 is executed.
(3) Prohibit the command entry.
(4) Turn to Servo-ON.
(5) Start up the auto-gain tuning.
Use the front panel or the "PANATERM
For the operation of the front panel, refer to P.71, "Auto-Gain Tuning Mode" of Preparation.
(6) Adjust the machine stiffness to the level at which no vibration occurs and obtain the required response.
(7) Write the result to EEPROM, if it is satisfactory.
Parameters Which Are Automatically Set
Table of auto-gain tuning
Pr
Title
No.
10 1st gain of position loop
11 1st gain of velocity loop
12 1st time constant of velocity loop integration
13 1st filter of velocity detection
14 1st time constant of torque filter time
15 Velocity feed forward
16 Velocity FF filter
18 2nd gain of position loop
19 2nd gain of velocity loop
1A 2nd time constant of velocity loop integration
1B 2nd filter of speed detection
1C 2nd time constant of torque filter
20 Inertia ratio
27 Setup of instantaneous velocity observer
30 2nd gain setup
31 1st mode of control switching
32 1st delay time of control switching
33 1st level of control switching
34 1st Hysteresis of control switching
35 Switching time of position gain
36 2nd mode of control switching
represents parameters with fixed value. Default for A to C-frame is 4, and 1 for D to F-frame.
*1 Stiffness value is 10 for position control and full-closed control, and 0 for velocity control and torque control.
*2 Lower limit for stiffness value is 10 for 17-bit encoder, and 25 for 2500P/r encoder.
®
".
0 [ 1] 2 3
12 32 39 48
9 18 22 27
62 31 25 21
0 0 0 0
*2 253 126 103 84
300 300 300 300
50 50 50 50
19 38 46 57
9 18 22 27
999 999 999 999
0 0 0 0
*2 253 126 103 84
Estimated load inertia ratio
0 0 0 0
1 1 1 1
*1 10 10 10 10
30 30 30 30
50 50 50 50
33 33 33 33
20 20 20 20
0 0 0 0
Stiffness value
[ 4] 5 6 7 8
63 72 90 108 135 162
35 40 50 60 75
16 14 12 11 9
0 0 0 0 0
65 57 45 38 30
300 300 300 300 300 300
50 50 50 50 50
73 84 105 126 157 188
35 40 50 60 75
999 999 999 999 999 999
0 0 0 0 0
65 57 45 38 30
0
0 0 0 0
1 1 1 1 1
10 10 10 10 10
30 30 30 30 30
50 50 50 50 50
33 33 33 33 33
20 20 20 20 20
0 0 0 0 0
[Adjustment]
9 10 11 12 13 14
206 251 305 377 449
90 115 140 170 210 250
8 7 6 5 4
0 0 0 0 0
25 20 16 13 11 10
300 300 300 300 300
50 50 50 50 50 50
241 293 356 440 524
90 115 140 170 210 250
999 999 999 999 999
0 0 0 0 0
25 20 16 13 11 10
0 0 0 0 0
1 1 1 1 1
10 10 10 10 10 10
30 30 30 30 30 30
50 50 50 50 50 50
33 33 33 33 33 33
20 20 20 20 20 20
0 0 0 0 0
15
557
310
4 3
0 0
10
300
50
649
310
999
0 0
10
0
0
1 1
10
30
50
33
20
0 0
237