Panasonic MINAS A6 Series Operating Instructions Manual page 372

7. Applied functions
Deterioration diagnosis warning function
・For each load characteristics estimate value, its upper and lower limit value can be set by
the parameters as indicated in the following table. In case the load characteristic estimates
has exceeded the upper or lower limit values for changes in load characteristics estimate, it
generates deterioration diagnostic warning number AC.
Upper limit
value
Lower limit
value
※Set resolution for the upper and lower limit of friction torque estimates (unbalanced load,
dynamic friction, and viscous friction coefficient) shall be in units of 0.2%.
※In case Pr6.31 (real-time auto-tuning convergence velocity) is set to 0 and is estimate
stopped from the start or before the load characteristics estimate results has been
confirmed, deterioration diagnosis warning judgment will become invalid even if real-time
auto tuning load characteristics estimate is valid.
(2)Deterioration diagnosis warning for constant velocity torque command average value
・Deterioration diagnosis velocity output (V-DIAG) is ON when the motor velocity is within
the range of Pr4.35 (Velocity coinciding width) of Pr5.75 (deterioration diagnosis set
velocity).
・When deterioration diagnosis velocity output (V-DIAG) is turned ON, torque command
average calculation will start and after lapse of the set time of Pr5.76, deterioration
diagnosis judgment by torque command average will become effective. This will continue
while deterioration diagnosis velocity output (V-DIAG) remains ON, however will return to
invalid condition when the output is turned OFF.
・The upper limit and lower limit values for torque command average can be set by
parameters Pr5.77 and 5.78 respectively. Deterioration diagnostic warning number AC is
generated in case these upper or lower limit values have been exceeded for changes in
the load characteristic estimates.
Pr5.75
Deterioration
diagnosis velocity
output V-DIAG
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5-80
Inertia ratio Unbalanced load
Pr5.67
Pr5.68
Torque comma
velocity
Torque command avera
Pr5.76
(Deterioration diagnosis
torque average time)
Dynamic friction
Pr5.69 Pr5.71
Pr5.70 Pr5.72
Pr5.77(upper limit)
Pr5.78(lower limi
Torque command
average deterioration
diagnosis valid section
Viscous fric
Pr5.73
Pr5.74
+Pr4.35
-
Pr4.35