Panasonic MINAS E-series - Manual (Page 133)

133
[Gain Adjustment]
Gain Adjustment
Operating Instructions
(1) Set an operating pattern with Pr25.
(2) Shift load to a position where there will be no problem if the motor executes the operating pattern set with
Pr25.
(3) Do not enter a command.
(4) Activate Servo-ON.
(5) Start auto gain tuning.
Do so by using a console or PANATERM
®
.
For operating instructions with the console, see a next page.
(6) Adjust mechanical stiffness No. so that you can have desired response at a level that results in no vibration.
(7) If you have no problem with the result, write it into EEPROM.
Parameters to be automatically set
Auto gain tuning table
Pr10 1st position loop gain
Pr11 1st velocity loop gain
Pr12 1st velocity loop integration time constant
Pr13 1st speed detection filter
Pr14 1st torque filter time constant
Pr15 Velocity feed forward
Pr16 Feed forward filter time constant
Pr18 2nd position loop gain
Pr19 2nd velocity loop gain
Pr1A 2nd velocity loop integration time constant
Pr1B 2nd speed detection filter
Pr1C 2nd torque filter time constant
Pr.20 Inertia ratio
Pr30 2nd gain set-up
Pr31 Position control switching mode
Pr32 Position control switching delay time
Pr33 Position control switching level
Pr34 Position control switching hysteresis
Pr35 Position loop gain switching time
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
27
15
37
0
152
300
50
31
15
1000
0
152
1
10
30
50
33
20
32
18
31
0
126
300
50
38
18
1000
0
126
1
10
30
50
33
20
39
22
25
0
103
300
50
46
22
1000
0
103
1
10
30
50
33
20
48
27
21
0
84
300
50
57
27
1000
0
84
1
10
30
50
33
20
63
35
16
0
65
300
50
73
35
1000
0
65
1
10
30
50
33
20
72
40
14
0
57
300
50
84
40
1000
0
57
1
10
30
50
33
20
90
50
12
0
45
300
50
105
50
1000
0
45
1
10
30
50
33
20
108
60
11
0
38
300
50
126
60
1000
0
38
1
10
30
50
33
20
135
75
9
0
30
300
50
157
75
1000
0
30
1
10
30
50
33
20
162
90
8
0
25
300
50
188
90
1000
0
25
1
10
30
50
33
20
206
115
7
0
20
300
50
241
115
1000
0
20
1
10
30
50
33
20
251
140
6
0
16
300
50
293
140
1000
0
16
1
10
30
50
33
20
305
170
5
0
13
300
50
356
170
1000
0
13
1
10
30
50
33
20
377
210
4
0
11
300
50
440
210
1000
0
11
1
10
30
50
33
20
449
250
4
0
10
300
50
524
250
1000
0
10
1
10
30
50
33
20
557
310
3
0
10
300
50
649
310
1000
0
10
1
10
30
50
33
20
Stiffness Value
shows parameters that are set to a fixed value. A default setup stiffness is 4.
Name
Parameter
No.
Estimated load inertia ratio