Panasonic minas a4 series Instruction Manual page 240

Normal Mode Auto-Gain Tuning
How to Operate from the Front Panel
(1) Turn to the normal auto-gain tuning
mode from the monitor mode, by
pressing the SET button, then press
the mode switching button three
For details, refer to P.60 and 61,
"Structure of Each Mode" of Preparation.
(2) Enter the machine stiffness No. by pressing
Value changes toward the direction as
an arrow shows by pressing
changes toward the reversed direction
by pressing
(3) Shift to MONITOR/EXECUTION mode
by pressing .
(4) Operation at MONITOR/EXECUTION mode
Keep pressing until the display
changes to
• Pin-29 of the connector, CN X5 to be
Servo-ON status.
Keep pressing for approx.3sec,
then bar increase as the right fig. shows.
The motor starts rotating.
For approx. 15 sec, the motor repeats
max. 5 cycles of CCW/CW rotation,
2 revolutions each direction per one cycle.
Tuning may finish before 5th cycles,
however, this is not an error.
(5) Write the gain value to EEPROM to prevent
them from being lost due to the power shut off.
<Caution>
Do not use the normal mode auto-gain tuning with the motor and driver alone. Pr20 (Inertia ratio) be-
comes to 0.
<Notes>
Content
Display of error.
Value of parameter
related to gain (such as
Pr10) is kept as same
as before the execution.
Motor does not run.
238
times.
Machine stiffness No. (High)
.
Machine stiffness No. (Low)
.
Cause
One of alarm, Servo-OFF or
deviation counter clear has
occurred.
Load inertia cannot be identified.
CL (Pin-30) of CN X5 is entered.
Display of rotational speed
of the motor (initial display)
Machine stiffness No.
.
Drive method
Ball screw direct connection
and
Ball screw + timing belt
Timing belt
Gear, Rack & Pinion
Others, low stiffness machine
Tuning finishes
normally
• Avoid an operation near the limit switch or origin proximity switch.
• Turn to Servo-ON.
• Release the deviation counter clear
• Lower Pr10 to 10 and Pr11 to 50, then execute the tuning.
• Adjust the gain manually. (Calculate the load inertia, and then
enter.)
Turn off the CL (Pin-30) of CN X5.
Machine stiffness No.
8 –14
6 –12
4 –10
2 – 8
0 – 8
Tuning error
Measure