How To Adjust Gain Manually - Panasonic MINAS S-series Operating Manual

How to Adjust Gain Manually

Before Adjustment
You may adjust the gains by viewing or hearing the motions and sound of the machine
during operation. But, to adjust the gains more quickly and precisely, you can obtain
quicker and secure adjustment by analog wave form monitoring.
1. Wave form graphic function of PANATERM "
You can view the graphic information of the command to the motor, actual motor
action (speed, torque and position error) on the computer display screen.
For details, see the instructions of PANATERM " .
2. Using the analogue monitor output
Y o u c a n m e a s u r e t h e a c t u a l m o t o r
speed,commanded speed,torque, position er-
r o r i n a n a l o g v o l t a g e l e v e l w i t h
oscilloscope.To do this, it is necessary to
specify the types of output signals and out-
p u t v o l t a g e l e v e l
m o n i t o r s e l e c t i o n ) , P r 0 8 ( T o r q u e m o n i t o r
selection).
For details, see "CN MON Connector" in the
main part of this manual, and "Details of Pa-
rameters" in Appendix.
Guidance Values of Gains, and How to Adjust
See the table below for the guidance values of gains, if the inertia ratio has been set correctly.
Position loop gain
M a c h i n e
Ball screw
Timing belt
Rack & pinion
How to adjust
1) Adjust the velocity loop gain Pr11.
2) Take "Position loop gain Pr10 set-up value ÅÖ 2 x Velocity loop gain Pr11 set-up value" as a guid-
ance value of stable operation.
3) Set-up of "Position loop gain Pr10 set-up value > 5 x Velocity loop gain Pr11 set-up value" will
lead to hunting and oscillation.
<Notes>
Set-up of current loop gain for adjustment by customers is unavailable.
Values are fixed to those set up before shipment by motor model.
b y u s i n g P r 0 7 ( V e l o c i t y
Velocity loop gain
P r 1 0
1 0 0
5 0
5 0
- 55 -
a n
POWER RS232C cable
MSDS
ALARM
GAIN
CN
SER
CN
I/F
CN
POWER
< N o t e >
Connect to
CN
SIG
CN SER.
CN
MOTOR
Velocity loop integration time constant
P r 1 1
5 0
2 5
2 5
P r 1 2
5 0
5 0
2 0 0 Å ` 5 0 0