Panasonic MINAS S-series Operating Manual page 97

Parameters for real time gain tuning
PrNo. P a r a m e t e r
2 0 Inertia ratio
2 1 R e a l t i m e a u t o
tuning set-up
Value
[ 0 ]
1
2
3
2 2 Machine
stiffness at
Real time
auto tuning
Value U n i t
0 ~ % • You can set-up the ratio of load inertia to the
10000
[100]
Pr20 = (Load inertia)/(Rotor inertia) x100%
• Set values change by operating gain adjustment rotary switch GAIN.
• The load inertia can be estimated by executing the auto gain
0 ~ 3 — • You can define the operating mode of the real
Real time auto tuning
Not used
U s e d
• With a larger value of Pr21, a quicker response to the change of load
0 ~ 9 — • You can set-up the machine stiffness (from 10 options) that is
[ 2 ]
• Large impact shock might be given to the machine, when you suddenly
- App.23 -
F u n c t i o n
motor's rotor inertia.
(See page 58.)
tuning, and this result will be reflected in this parameter.
If Pr20 (inertia ratio) is set correctly, the unit of the values
of Pr11 and Pr19 becomes Hz. If the value of Pr20 is larger
than the actual load inertia, the unit of the value of these
parameters becomes larger. If the value of Pr20 is smaller
than the actual load inertia, the unit of the value of these
parameters becomes smaller.
time auto tuning.
Fluctuation of load inertia during operation
Rarely fluctuates
Fluctuates slowly
Fluctuates quickly
inertia can be obtained, though the operation may become unstable
depending on the operating pattern. In normal cases, the value of this
parameter should be 1 or 2.
used at the real time auto gain tuning.
Low Machine stiffness
Low
Pr22 0 • 1- - - - - - - - - - - - - 8 • 9
Low
set this parameter to a larger value. Start from the smaller value while
monitoring the machine movement.
Default : [
----------
High
Servo gain High
Response High
]