Panasonic MINAS E-series - Manual (Page 134)

134
How to Operate with Console
(1) Switch from monitor mode to normal auto
gain tuning mode, by pressing SET button
and then mode switch button 3 times.
For operating instructions, refer to Normal
Auto Gain Tuning Mode on Page 58 of
Preparation edition.
(2) Select mechanical stiffness No. by pressing or .
Motor rotation speed
indication (Initial display)
Mechanical Stiffness No.
Mechanical Stiffness No. (High)
Mechanical Stiffness No. (Low)
Press , and a value will change in the
direction shown by the arrow.
(3) Pressing , shift to monitor/execution mode.
(4) Activate Servo-ON state (Do not enter a command).
(5) Operations in monitor/execution mode
Press till display of changes to
.
When you keep pressing (about 3 seconds),
horizontal bars will increase, as shown in the
right figure.
The motor has started to rotate. When Pr25 = 0,
the motor rotates twice in CCW/CW directions for
about 15 seconds, which is considered 1 cycle.
The motor can repeat cycles up to 5 times. Even
when it terminates before fifth cycle, it is not
abnormality.
(6) Repeat steps 2 to 5 above until you receive a
satisfactory response, and write a gain value to
EEPROM so that it will not be lost due to cutoff of
power supply.
Press , and a value will change in the
reverse direction.
Driving method
Direct connection with ball screw
Ball screw + timing belt
Timing belt
Gear, rack and pinion
Other machines with low stiffness
Mechanical
Stiffness No.
8 - 14
6 - 12
4 - 10
2 - 8
0 - 8
<Caution> Do not use normal auto gain tuning with the motor/driver on a standalone basis. If you do so,
Pr20 (inertia ratio) will be 0.
<Remarks>
Cause
Any of alarm, Servo-OFF or
deviation counter clear has
occurred.
Load inertia cannot be
estimated.
Condition
• Error is displayed.
• The motor does not rotate.
• A value related to gain such as
Pr10 remains unchanged from
a value prior to execution.
Step to take
• Remove a factor of alarm.
• Activate Servo-ON.
• Release the deviation counter clear.
• Decrease Pr10 to 10 and Pr11 to 50 and execute again.
• Make manual adjustment.
Normal Auto Gain Tuning