Panasonic MINAS A3 Series - Manual (Page 18)

148
Parameter Setting
Parameters for real time auto gain tuning
20 0 – 10000
[100]*
% Inertia ratio • Defines the ratio of load inertia to the motor's rotor inertia.
• 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.
Pr20 = ( rotor inertia / load inertia ) x 100[%]
Parameter
No.
Setting
range
Parameter Name Unit Function/Description
Default setting is shown by [ ]
25 0 – 7 – Normal auto
tuning motion
set up
• Defines the operation pattern of the normal mode auto tuning.
Example) Setting this parameter to "0" provides two CCW revolutions and
two CW revolutions.
Set value
[0]
1
2
3
4
5
6
7
Number of revolutions
2[revolution]
1[revolution]
Revolving direction
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
CCW –› CW
CW –› CCW
CCW –› CCW
CW –› CW
21 0 – 7 – Real time auto
tuning set up
• 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.
• Note that any change in this parameter will be enabled when Servo OFF
changes to Servo ON.
22 0 – 15
[4]
– Machine stiffness
at auto tuning
• Defines the machine stiffness during execution of real-time auto tuning.
• 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.
Low Machine stiffness High
Low Servo gain High
Low Responsiveness High
Pr22 0 , 1- - - - - - - - - - - - 14, 15
Setting value
0
[1]
2
3
4
5
6
7
Adaptive Filter
Absent
Present
Absent
Present
Real-time Auto Gain
Tuning
Not used
Used
Not used
Degree of Changes
in Load Inertia
–
Hardly changes.
Changes moderately.
Changes sharply.
Hardly changes.
Changes moderately.
Changes sharply.
–