Panasonic MINAS S Series Operating Manual page 75

Adjustments
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 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
guidance value of stable operation.
3) Set-up of "Position loop gain Pr10 set-up value > 5 x Velocity loop gain Pr11 set-up value" willlead
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.
How to Adjust the Gain at Position Control Mode
1) Input the inertia ratio of Pr20. For horizontal axis, take measurements on the basis of "Normal
autotuning". For vertical axis, obtain values through calculations.
2) Conduct adjustments with the parameters shown in the following table taken as guidance values.
Parameter Parameter
No. description
Pr10 1st position loop gain
Pr11 1st velocity loop gain
Pr12 1st velocity
integration
constant
Pr13 1st velocity detection
filter
Velocity loop gain
P r 1 0
1 0 0
5 0
5 0
Guidance
value
5 0 OK, if there is no problem with the motion. With a larger
value, responsibility improves. With an excessively large
value, oscillation occurs.
OK, if there is no unusual running noise. If unusual noise
is heard, decrease
3 0 the value.
OK, if there is no problem with the motion. With a smaller
value,
loop 5 0 responsibility improves. With an excessively small value,
time oscillation occurs. With a larger value, deviation pulses
may not be converged but left over indefinitely.
0
OK, if there is no unusual running noise. If vibration is
found,
- 74 -
integration time
P r 1 1
5 0
2 5
2 5 2 0 0 Å ` 5 0 0
Concept of adjustment
Velocity loop
constant
P r 1 2
5 0
5 0