Panasonic MINAS A5-series Operating Instructions Manual
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Contents
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5-51 Before Using the Products2 Preparation3 Connection4 Setup5 Adjustment6 When in Trouble7 SupplementHow to OperateCaution1) Bring the motor to stall (Servo-OFF).2) Set up Pr0.02 (Setup of real-time auto-gain tuning mode) to 1-7.Default is set to 1.Setupvalue Real-time auto-gain tuning *1 Velocity and torque controls are thesame as in the standard mode.*2 Torque control is the same as in thestandard mode.*3 Velocity control is the same as in thevertical axis mode. Torque control isthe same as in the standard mode.*4 Certain function(s) is not availablein a specific control mode. Refer todescription in Pr6.32.0 Invalid1 Standard2 Positioning *13 Vertical axis *24 Friction compensation *35 Load characteristic measurement6 Customize *4Control parameter is automatically set according to Pr0.03 Real-time auto-tuning stiff-ness setup. For details, see P.5-6 and 5-7.3) Turn on servo, and start the machine.Estimation of load characteristics starts.4) When the load characteristics are determined, Pr0.04 Inertia ratio is updated.In a specific mode, the following parameters are changed:Pr6.07 Torque command additional valuePr6.08 Positive direction torque compensation valuePr6.09 Negative direction torque compensation value5) When value of Pr0.03 Real-time auto-tuning stiffness setup is increased, the motor re-sponsiveness will be improved.Determine the most appropriate stiffness in relation to the positioning setup time andvibration condition.6) To save the result to memory, write the data to EEPROM.If power is turned off within 30 minutes after the end of tuning process, the result of thereal-time auto-tuning is not saved. If the result is not saved, manually write parameters toEEPROM and then turn off power.2. Real-Time Auto-Gain TuningBasicNoteRelated page• While the auto-tuning is valid, parameters that are to be automatically adjusted cannot bechanged.• P.2-71 “EEPROM Writing” • P.4-5, 4-6, 4-51, 4-52, 4-55, 4-56 “Details of parameter” |
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