Parameters For Real Time Auto Gain Tuning - Panasonic MINAS A3 Series How To Use Manual

Parameter Setting

Parameters for real time auto gain tuning

Parameter
Parameter Name
No.
20 Inertia ratio
21 Real time auto
tuning set up
22 Machine stiffness
at auto tuning
25 Normal auto
tuning motion
set up
148
Setting
Unit
range
0 – 10000 • Defines the ratio of load inertia to the motor's rotor inertia.
%
[100]*
Pr20 =
• When you execute auto gain tuning, load inertia will be estimated and
the result will be reflected in this parameter.
Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
of the speed loop gain will increase. When Pr20 inertia ratio is smaller
than the actual ratio, setting of speed loop gain will decrease.
0 – 7 – • Defines the operation mode of real-time auto tuning. Increasing the set
value (3, 6,...) provides higher response to the inertia change during
operation. However, operation may become unstable depending on the
operation pattern. Normally, set this parameter to "1" or "4".
• If you set this parameter to any value other than 0, Pr27 disturbance
observer filter selection will be disabled (0). In addition, if you set the
adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
• When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
In the torque control mode, the adaptive notch filter is always invalid.
Real-time Auto Gain
Setting value
0
[1]
2
3
4
5
6
7
• Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
0 – 15 – • Defines the machine stiffness during execution of real-time auto tuning.
[4]
• If the parameter value is rapidly changed, the gain significantly changes,
applying a shock to the machine. Be sure to set a small value first, and
increase it gradually, while monitoring the operating condition.
0 – 7 – • Defines the operation pattern of the normal mode auto tuning.
Set value
[0]
1
2
3
4
5
6
7
Example) Setting this parameter to "0" provides two CCW revolutions and
Function/Description
(rotor inertia / load inertia) x 100[%]
Degree of Changes
Tuning in Load Inertia
Not used
Hardly changes.
Changes moderately.
Changes sharply.
Used
Hardly changes.
Changes moderately.
Changes sharply.
Not used
Low Machine stiffness
Low Servo gain
Pr22 0 , 1- - - - - - - - - - - - 14, 15
Low Responsiveness
Number of revolutions
2[revolution]
1[revolution]
two CW revolutions.
Default setting is shown by [
Adaptive Filter
– Absent
Present
Absent
– Present
High
High
High
Revolving direction
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
]