How To Adjust Gain - Panasonic MINAS A Series Operating Manual

How to Adjust Gain
Normal auto gain tuning
<Note>
・
Pay extra attention to the safety.
・If the machine enter to oscillation ( abnormal sound and vibration) , shut off the
power immediately, or change
to Servo-OFF.
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Automatic gain tuning
No
Actioon OK? Abnormal sound or vibration occurs.
Yes
Manual adjustment
Action OK?
Any affect of the
machine resonance ?
Do you use PANATERM ?
Yes
Notch filter
Torque command filter
Do you need higher
response ?
2nd gain switching
function
NG
Action OK?
Downloading to
EEPROM
Start
Yes
Real time auto gain tuning
・
Guidance values of gains
・
Monitoring the velocity and torque using an oscilloscope,
fine-adjust the gains so that the motor action follows
the commands.
OK
NG
No
Yes
No
Measure the resonance frequency
· Pr1D
· Pr14,Pr1C
No
Yes
OK
End
− 57 −
No
of machine system