Panasonic MINAS A5-series Operating Instructions Manual page 238

2. Real-Time Auto-Gain Tuning
Basic
Caution
(1) Immediately after the first servo-on upon start up; or after increasing Pr0.03
Real-time auto-tuning stiffness setup, abnormal sound or oscillation may be gener-
ated until the load characteristics estimation is stabilized. If such abnormality lasts or
repeats for 3 or more reciprocating operations, take the following countermeasures.
1) Lower the setup of Pr0.03 (Selection of machine stiffness at real-time auto-gain
tuning).
2) Set Pr0.02 Real-time auto-tuning setup to 0 to disable the real-time auto-tuning.
3) Set Pr0.04 Inertial ratio to the calculational value of the equipment and set Pr6.07
(2) When abnormal noise and oscillation occur, Pr0.04 (Inertia ratio) or Pr6.07 (Torque
command additional value), Pr6.08(Positive direction torque compensation value),
Pr6.09(Negative direction torque compensation value) might have changed to ex-
treme values. Take the same measures as the above in these cases.
(3) Among the results of real-time auto-gain tuning, Pr0.04 (Inertia ratio) and Pr6.07
(Torque command additional value), Pr6.08(Positive direction torque compensation
value), Pr6.09(Negative direction torque compensation value) will be written to EE-
PROM every 30 minutes. When you turn on the power again, the auto-gain tuning will
be executed using the latest data as initial values.
Invalidation of Real-Time Auto-Gain Tuning
You can stop the automatic calculation of Pr0.04 (Inertial ratio) and invalidate the real-
time auto-gain tuning by setting up Pr0.02 (Real-time auto-gain tuning setup) to 0.
Note that the calculation result of Pr0.04 (Inertia ratio) will be held, and if this parameter
becomes abnormal value, use the normal mode auto-gain tuning or set up proper value
manually obtained from formula or calculation.
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.
5-8
Torque command addition value, Pr6.08 Positive direction compensation value
and Pr6.09 Negative direction compensation value to 0.