Panasonic Minas E Series Instruction Manual page 134

Normal Auto Gain Tuning
How to Operate with Console
(1) Switch from monitor mode to normal auto
gain tuning mode, by pressing SET button
and then mode switch button 3 times.
For operating instructions, refer to Normal
Auto Gain Tuning Mode on Page 58 of
Preparation edition.
(2) Select mechanical stiffness No. by pressing
Press
direction shown by the arrow.
Press
reverse direction.
(3) Pressing , shift to monitor/execution mode.
(4) Activate Servo-ON state (Do not enter a command).
(5) Operations in monitor/execution mode
Press till display of
.
When you keep pressing
horizontal bars will increase, as shown in the
right figure.
The motor has started to rotate.
the motor rotates twice in CCW/CW directions for
about 15 seconds, which is considered 1 cycle.
The motor can repeat cycles up to 5 times. Even
when it terminates before fifth cycle, it is not
abnormality.
(6) Repeat steps 2 to 5 above until you receive a
satisfactory response, and write a gain value to
EEPROM so that it will not be lost due to cutoff of
power supply.
<Caution> Do not use normal auto gain tuning with the motor/driver on a standalone basis. If you do so,
Pr20 (inertia ratio) will be 0.
<Remarks>
Condition
• Error is displayed.
• The motor does not rotate.
• A value related to gain such as
Pr10 remains unchanged from
a value prior to execution.
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or
Mechanical Stiffness No. (High)
, and a value will change in the
, and a value will change in the
Mechanical Stiffness No. (Low)
changes to
(about 3 seconds),
When Pr25 = 0,
Cause
Any of alarm, Servo-OFF or
deviation counter clear has
occurred.
Load inertia cannot be
estimated.
Motor rotation speed
indication (Initial display)
Mechanical Stiffness No.
.
Driving method
Direct connection with ball screw
Ball screw + timing belt
Timing belt
Gear, rack and pinion
Other machines with low stiffness
• Remove a factor of alarm.
• Activate Servo-ON.
• Release the deviation counter clear.
• Decrease Pr10 to 10 and Pr11 to 50 and execute again.
• Make manual adjustment.
134
Mechanical
Stiffness No.
8 - 14
6 - 12
4 - 10
2 - 8
0 - 8
Step to take