Panasonic Minas E Series Instruction Manual page 133

Operating Instructions
(1) Set an operating pattern with Pr25.
(2) Shift load to a position where there will be no problem if the motor executes the operating pattern set with
Pr25.
(3) Do not enter a command.
(4) Activate Servo-ON.
(5) Start auto gain tuning.
Do so by using a console or PANATERM
For operating instructions with the console, see a next page.
(6) Adjust mechanical stiffness No. so that you can have desired response at a level that results in no vibration.
(7) If you have no problem with the result, write it into EEPROM.
Parameters to be automatically set
Auto gain tuning table
Parameter
Name
No.
Pr10 1st position loop gain
Pr11 1st velocity loop gain
Pr12 1st velocity loop integration time constant
Pr13 1st speed detection filter
Pr14 1st torque filter time constant
Pr15 Velocity feed forward
Pr16 Feed forward filter time constant
Pr18 2nd position loop gain
Pr19 2nd velocity loop gain
Pr1A 2nd velocity loop integration time constant
Pr1B 2nd speed detection filter
Pr1C 2nd torque filter time constant
Pr.20 Inertia ratio
Pr30 2nd gain set-up
Pr31 Position control switching mode
Pr32 Position control switching delay time
Pr33 Position control switching level
Pr34 Position control switching hysteresis
Pr35 Position loop gain switching time
shows parameters that are set to a fixed value. A default setup stiffness is 4.
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®
0 1 2 3 4
27
32 39 48 63
15 18 22 27 35
37 31 25 21 16
0 0 0 0 0
152 126 103 84 65
300 300 300 300 300
300
50 50 50 50 50
31 38 46 57 73
15 18 22
27 35
1000 1000 1000 1000 1000 1000
0 0 0 0 0
152
126 103 84 65
Estimated load inertia ratio
1 1 1 1 1
10 10 10 10 10
30 30 30 30 30
50 50 50 50 50
33 33 33 33 33
20 20 20 20 20
133
[Gain Adjustment]
Stiffness Value
5 6 7 8 9 10
72 90 108 135 162 206
40 50 60 75 90 115
14 12
11 9 8
0 0 0 0 0
57 45 38 30 25 20
300 300 300 300 300
50 50 50 50 50 50
84 105 126 157 188 241
40 50 60 75 90 115
1000 1000 1000 1000 1000
0 0 0 0 0
57 45 38 30 25 20
1 1
1 1 1
10 10 10 10 10 10
30 30 30 30 30 30
50 50 50 50 50 50
33 33 33 33 33 33
20 20 20 20 20 20
11 12 13 14 15
251 305 377 449 557
140 170 210 250 310
7 6 5 4 4 3
0 0 0 0 0 0
16 13 11
10 10
300 300 300 300 300
50 50 50 50 50
293
356 440 524 649
140 170 210 250 310
1000 1000 1000 1000 1000
0 0 0 0 0 0
16 13 11 10 10
1 1 1 1 1 1
10 10 10 10 10
30 30 30
30 30
50 50 50 50 50
33 33 33 33 33
20
20 20 20 20