Panasonic MINAS E-series - Manual (Page 135)

135
[Gain Adjustment]
Gain Adjustment
Cancellation of the Automatic Gain Tuning
Outline
Cautions required when you disable the real time auto gain tuning which was unabled by default setup or an
adaptive filter are stated.
Cautions
Cancel of the automatic adjustment function, at Servo-OFF.
Disabling Real time Auto Tuning
When you change Pr21 (real time auto tuning set-up) to 0 or 7 (only adaptive filter enabled), automatic
estimation of Pr20 (inertia ratio) will stop and real time auto tuning will be disabled.
(Note, however, that the change will take effect when you activate Servo-ON again after turning on Servo-OFF
once.)
Estimation result of Pr20 (inertia load) will be saved. Thus, if you notice this parameter has been apparently set
to an extraordinary value, use normal auto tuning after disabling, or manually set a reasonable value obtained
from calculation, etc.
Disabling Adaptive Filter
When you set Pr21 (real time auto tuning set-up) to 0 or 4 to 6 (only real time auto tuning enabled), the adaptive
filter feature that automatically track load resonance will stop.
However, if you disable the adaptive filter while it is normally functioning, effects of resonance that have been
suppressed may appear and cause abnormal noise/vibration, etc.
Therefore, if you disable the adaptive filter, do so only after manually setting Pr1D (1st notch frequency) from
Pr2F (adaptive filter frequency) by means of the following table:
Pr2F
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
1st Notch Frequency [Hz]
(Disabled)
(Disabled)
(Disabled)
(Disabled)
(Disabled)
1482
1426
1372
1319
1269
1221
1174
1130
1087
1045
1005
967
930
895
861
828
796
Pr2F
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
1st Notch Frequency [Hz]
766
737
709
682
656
631
607
584
562
540
520
500
481
462
445
428
412
396
381
366
352
339
Pr2F
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
1st Notch Frequency [Hz]
326
314
302
290
279
269 (Disabled when Pr22
≥ 15)
258 (Disabled when Pr22 ≥ 15)
248 (Disabled when Pr22
≥ 15)
239 (Disabled when Pr22 ≥ 15)
230 (Disabled when Pr22 ≥ 15)
221 (Disabled when Pr22 ≥ 14)
213 (Disabled when Pr22 ≥ 14)
205 (Disabled when Pr22 ≥ 14)
197 (Disabled when Pr22 ≥ 14)
189 (Disabled when Pr22 ≥ 14)
182 (Disabled when Pr22 ≥ 13)
(Disabled)
(Disabled)
(Disabled)
(Disabled)
(Disabled)
<Remarks>
When Pr2F is 49 or higher, the adaptive filter may have been disabled automatically, depending on Pr22
(Machine stiffness at auto tuning). In such a case, you do not have to manually set Pr1D.