Panasonic MINAS A4P Series - Manual (Page 148)

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<Remarks>
Set up the torque limit selection (SV.Pr03) to 1.
When you set up other than 1, driver may not act correctly.
Caution
Normal mode auto-gain tuning may not be work properly under the following conditions. In these cases, set
up in manual gain tuning
• Tuning error will be triggered when an error, Servo-OFF, the main power shutdown, validation of over-
travel inhibition, or deviation counter clear occurs during the normal mode auto-gain tuning.
• If the load inertia cannot be calculated even though the normal mode auto-gain tuning is executed, gain
value will not change and be kept as same as that of before the execution.
• The motor output torque during the normal auto-gain tuning is permitted to the max. torque set with SV.Pr5E
(Setup of torque limit).
• Please note that each signal of the CW over-travel inhibit input, CCW over-travel inhibit input, emergency
stop, deceleration-and-stop and temporary stop is ignored.
Pay an extra attention to the safety. When oscillation occurs, shut off the main power or turn to Servo-
OFF immediately. Bring back the gain to default with parameter setup. Refer to cautions of P.95,
"Auto-Gain Tuning Mode" of Setting as well.
Normal Mode Auto-Gain Tuning
Control mode
Others
Conditions under which the normal mode auto-gain tuning is activated
Applies to all control modes.
• Servo-ON status
Position command
Motor torque
Servo driver
Position command
Load inertia
calculation
Generation
of
internal
positional
command
Current
control
Motor
current
Motor
speed
Position/Velocity
Control
Gain
auto-
adjust
Torque
command
Motor
Encoder
Normal mode
auto-gain tuning
Load inertia
Load
Conditions which obstruct normal auto-gain tuning
• Too small or too big compared to the rotor inertia
(smaller than 3 times or larger than 20 times)
• Load inertia varies.
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
Outline
The motor will be driven per the command with a pat-
tern generated by the driver automatically. The driver
estimates the load inertia from the necessary torque,
and sets up an appropriate gain automatically.
Applicable Range
This function works under the following condition.