Panasonic MINAS A5-series Operating Instructions Manual page 235

2. Real-Time Auto-Gain Tuning
Basic
How to Operate
1) Bring the motor to stall (Servo-OFF).
2) Set up Pr0.02 (Setup of real-time auto-gain tuning mode) to 1-7.
Default is set to 1.
Setup
value
0
1
2
3
4
5
6
Control parameter is automatically set according to Pr0.03 Real-time auto-tuning stiff-
ness setup. For details, see P.5-6 and 5-7.
3) Turn on servo, and start the machine.
Estimation of load characteristics starts.
4) When the load characteristics are determined, Pr0.04 Inertia ratio is updated.
In a specific mode, the following parameters are changed:
Pr6.07 Torque command additional value
Pr6.08 Positive direction torque compensation value
Pr6.09 Negative direction torque compensation value
5) When value of Pr0.03 Real-time auto-tuning stiffness setup is increased, the motor re-
sponsiveness will be improved.
Determine the most appropriate stiffness in relation to the positioning setup time and
vibration condition.
6) To save the result to memory, write the data to EEPROM.
Caution
If power is turned off within 30 minutes after the end of tuning process, the result of the
real-time auto-tuning is not saved. If the result is not saved, manually write parameters to
EEPROM and then turn off power.
Note
• While the auto-tuning is valid, parameters that are to be automatically adjusted cannot be
changed.
Related page
• P.2-71 "EEPROM Writing" • P.4-5, 4-6, 4-51, 4-52, 4-55, 4-56 "Details of parameter"
Real-time auto-gain tuning
Invalid
Standard
Positioning *1
Vertical axis *2
Friction compensation
Load characteristic measurement
Customize *4
*1 Velocity and torque controls are the
same as in the standard mode.
*2 Torque control is the same as in the
standard mode.
*3 Velocity control is the same as in the
vertical axis mode. Torque control is
the same as in the standard mode.
*4 Certain function(s) is not available
*3
in a specific control mode. Refer to
description in Pr6.32.
1
2
3
4
5
6
7
5-5