Panasonic MINAS A5-series Operating Instructions Manual
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Contents
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5-365 5. Manual Gain Tuning (Application)Adjustment Inertia ratio switching functionOutlineInertia ratio can be switched between No.1 and No.2 by the switching input (J-SEL). Thisfeature is useful in application where the load inertia changes in two steps.Applicable RangeThis function can be applicable only when the following conditions are satisfied.Conditions under which the Inertia ratio switching function is activatedControl mode• Can be used in all control modes.Pr0.01 = 0 : Position controlPr0.01 = 1 : Velocity controlPr0.01 = 2 : Torque controlPr0.01 = 3 : Position/Velocity controlPr0.01 = 4 : Position/Torque controlPr0.01 = 5 : Velocity/Torque controlPr0.01 = 6 : Full-closed controlOthers• Should be in servo-on condition• Input signals such as the deviation counter clear and command inputinhibit, and parameters except for controls such as torque limit setup, arecorrectly set, assuring that the motor can run smoothly.• Real-time auto-tuning should be disabled. (Pr0.02=0)• Adaptive filter should be disabled. (Pr2.00=0)• Instantaneous speed observer should be disabled. (Pr6.10=0)• Disturbance observer should be disabled. (Pr6.24=0 bit1=0)Caution• Be sure to change the inertia ratio while the motor is in stop state. Otherwise, vibrationor oscillation will occur.• If the difference between the 1st inertial ratio and 2nd inertia ratio is large, vibration,etc., may occur even in stop mode. These potential problems should be identified on theactual model.Related page • P.3-30 “Inputs and outputs on connector X4” • P.4-4... , P.4-52, 53 “Details of parameter” |
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This manual is suitable for:
MADHT1105MADHT1107MADHT1505MADHT1507MBDHT2110MBDHT2510MCDHT3120MCDHT3520MDDHT3530MDDHT5540MDME202G1MDME302G1MDME402G1MDME502G1MEDHT7364MFDHTA390MFDHTB3A2MGME092G1MGME202G1MGME302G1MHME102G1MHME152G1MHME202G1MHME302G1MHME402G1MHME502G1MINAS A5-seriesMSME011G1MSME012G1MSME021G1MSME022G1MSME041G1MSME042G1MSME082G1MSME102G1MSME152G1MSME202G1MSME352G1MSME5AZG1
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