Panasonic MINAS A5-series Operating Instructions Manual

5-25 1. Gain AdjustmentAdjustment OutlinePurposeIt is required for the servo driver to run the motor in least time delay and as faithful aspossible against the commands from the host controller. You can make a gain adjustmentso that you can run the motor as closely as possible to the commands and obtain the op-timum performance of the machine. : Ball screw>ProceduresPosition loop gain : 20Velocity loop gain : 100Time constant ofV-loop integration : 50Velocity loop feed forward : 0Inertia ratio : 100Position loop gain : 100Velocity loop gain : 50Time constant ofV-loop integration : 50Velocity loop feed forward : 0Inertia ratio : 100Position loop gain : 100Velocity loop gain : 50Time constant ofV-loop integration : 50Velocity loop feed forward : 500Inertia ratio : 100+2000- 200000.0 375250125 0.0 375250125 0.0 375250125[r/min]Command SpeedMotor actual speedGain setup : Low Gain setup : High Gain setup : High + feed forward setupStart adjustmentAutomaticadjustment ?Ready forcommandinput ?Action O.K.?YesYesNoNoYesYesNoAction O.K.?YesNoNoReal timeauto-gain tuning(Default)Release ofauto-adjustingfunctionRelease ofauto-adjustingfunctionManual gain tuningGain automaticsetup functionFinish adjustmentWriting to EEPROMConsult to authorized dealer(see P.5-4) (see P.5-17)Operation by usingthe trial run function(see P.5-24)Use thegain setup of auto-adjustment ?Note For safety operation, first adjust the gain by referring to P.6-15 Setup protective functionbefore gain adjustment.

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