How To Adjust Gain Manually - Panasonic MINAS A Series Operating Manual

Adjustment
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. Using the analogue monitor output
You can measure the actual motor speed,
commanded speed, torque, position
error in analog voltage level with an
oscilloscope.To do this, it is necessary to
specify the types of output signals and
output voltage level by using Pr07
(Velocity monitor selection), Pr08 (Torque
monitor selection). For details, see
"CN I/F Connector" in the main part of this
manual, and "Details of Parameters" in Appendix.
2. 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.
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
Machine
Ball screw
Timing belt
Rack & pinion
How to adjust
① Adjust the gain Pr11 and Pr12 which relate to the velocity loop.
② Adjust the position loop gain, Pr10.
③ Pr10 (Position loop gain) should be smaller than Pr11 (Velocity loop gain).
<Note>
You cannot adjust the current loop gain, since these are fixed per the model.
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Velocity loop gain
Pr10
100 〜 150
50
70
− 60 −
26 28 30 32 34 36 38
ZERO DI V CL C- S- ALM COI N
SPD MODE RDY
27 29 31 33 35 37
GAI N SRV A- I N H S- ALM
- O N CLR RDY
1 3 5 7 9 11 13
NC PULS1 SI G N1 COM CCWL BRK- GND
OFF
2 4 6 8 10 12
NC PULS2 SI G N2 CWL BRK- ZSP
OFF
ID MODE SET
RS232C cable
IM SP G
NET
L 1
SER
L 2
L 3
I/F
r
※ Note
t
Connect to
P
CN SER
B 1
B 2
(not CN NET)
SIG
U
V
W
Velocity loop integration time constant
Pr11
200 〜 300
100 〜 200
100
40 42 44 46 48 50
TLC I M BATT NC OB FG
39 41 43 45 47 49
COI N COM SPM BATT NC OB
15 17 19 21 23 25
GND GND CZ OA OZ GND
14 16 18 20 22 24
CCWTL CWTL NC OA OZ
SPR
TRQR / T RQR
Pr12
100 〜 150
50
70