Panasonic MSDA043A1A Operating Manual page 120

Parameters for real time gain tuning
PrNo. Parameter
20 Inertia ratio
21 Real time
auto tuning
set-up
Value
0
1
2
3
22 Machine
stiffness at
auto tuning
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Value Unit
0 〜 ％ ・You can set-up the ratio of load inertia
10000
・The load inertia can be estimated by executing the auto
0 〜 3 ー ・You can define the operating mode of
【0】
Real time auto tuning
Not used
Used
・With a larger value of Pr21, a quicker response to the change
0 〜 9 ー ・You can set-up the machine stiffness (from 10
【2】
・Large impact shock might be given to the machine,
Start from the smaller value while monitoring the
− App. 39 −
Function
to the motor's rotor inertia.
Pr20 ＝(Load inertia)/(Rotor inertia) x100%
gain tuning, and this result will be reflected in this
parameter.
If Pr20 (inertia ratio) is set correctly, the unit of the val-
ues of Pr11 and Pr19 becomes Hz. If the value of Pr20
is larger than the actual load inertia, the unit of the value
of these parameters becomes larger. If the value of Pr20
is smaller than the actual load inertia, the unit of the
value of these parameters becomes smaller.
the real time auto tuning.
Fluctuation of load inertia during operation
Rarely fluctuates
Fluctuates slowly
Fluctuates quickly
in load inertia can be obtained, though the operation may
become unstable depending on the operating pattern. In nor-
mal cases, the value of this parameter should be 1 or 2.
options) that is used at the real time auto gain tuning.
Low ← Machine stiffness → High
Low ← Servo gain → High
Pr22 0・1- - - - - - - - - - - - - 8・9
Low ← Response → High
when you suddenly set this parameter to a larger value.
machine movement.
ーーーーー