Panasonic minas a4 series Instruction Manual page 232

Real-Time Auto-Gain Tuning
Parameters Which Are Automatically Set
Following parameters are automatically adjusted.
PrNo.
10 1st gain of position loop
11 1st gain of velocity loop
12 1st time constant of velocity loop integration
13 1st filter of velocity detection
14 1st time constant of torque filter
18 2nd gain of position loop
19 2nd gain of velocity loop
1A 2nd time constant of velocity loop integration
1B 2nd filter of speed detection
1C 2nd time constant of torque filter
20 Inertia ratio
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change the parameters which are automati-
cally adjusted.
• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of real-time auto-gain tuning)
is 1 to 6, and becomes 0 in other cases.
Caution
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or
increase of Pr22 (Selection of machine stiffness at real-time auto-gain tuning) until the load inertia is
identified (estimated) or the adaptive filter is stabilized, however, these are not failures as long as they
disappear immediately. If they persist over 3 reciprocating operations, take the following measures in
possible order.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setup of Pr22 (Selection of machine stiffness at real time auto-gain tuning).
3) Set up the notch filter manually.
(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might
have changed to extreme values. Take the same measures as the above in these cases.
(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency)
will be written to EEPROM every 30 minutes. When you turn on the power again, the auto-gain tuning will
be executed using the latest data as initial values.
(4) When you validate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be
invalidated (0) automatically.
(5) During the trial run and frequency characteristics measurement of "PANATERM
mation will be invalidated.
230
Also following parameters are automatically set up.
Title PrNo. Title
15 Velocity feed forward
16 Time constant of feed forward filter
27 Setup of instantaneous speed observer
30 2nd gain setup
31 1st mode of control switching
32 1st delay time of control switching
33 1st level of control switching
34 1st hysteresis of control switching
35 Position gain switching time
36 2nd mode of control switching
Setup value
300
50
0
1
10
30
50
33
20
0
® ", the load inertia esti-