Panasonic MINAS S Series Operating Manual page 72

• If the machine enters to oscillation (abnormal sound and vibration), shut off the power
immediately,or change to Servo-OFF.
How to Use "Normal Auto-Gain" Tuning
Automatic tuning is available when the gain adjustment rotary switch GAIN is set to "0" position
only.
to set thestiffness.To start from smaller value
(1).
3) Click on [Start] button to execute automatic tun-
and two CW revolutions. Note that this process doesn't
ing.
• CN I/F pin 2: Servo-ON
• Pr ID (Notch Frequency) = 1500
tuning.
5) Download the obtained gain values to EEPROM. Note that if you turn off the power before
downloading, the gain values will be lost.
<Notes>
• Never perform normal automatic tuning with single motor nor with single amplifier. Otherwise, Pr20
(inertia ratio) becomes zero, possibly resulting in oscillation.
Symptom
1)
tuning" in the window menu to open the
automatic tuning screen.
2)
4) 15 seconds, the motor repeats the cycle 5 times(at
most), which consists of two CCW revolutions
necessarily repeat 5 cycles and this is not abnormal.
Value is entered in the post-application column after
Cause
- 71 -
Start PANATERM", and click on "Auto
Move the bar for mechanical stiffness
Driving method
Ball screw + direct coupling
Ball screw + timing belt
Timing belt
Gear, or rack & pinion
Others: lower stiffness
Remedy
Mechanical
stiffness
4 Å ` 8
3 Å ` 6
2 Å ` 5
1 Å ` 3
1 Å ` 3