Panasonic Minas E Series Instruction Manual

Also see for Minas E Series: Technical reference

Contents

120Parameter SettingPrNo. Parameter Name Unit Function/Content• The parameter sets a ratio of load inertia to rotor inertia of the motor.• When you execute auto gain tuning, load inertia is estimated and theresult will be reflected in the parameter.If inertia ratio has been set correctly, Pr11 and Pr19 will be set in(Hz). When Pr20 inertia ratio is greater than actual value, settingunit of the velocity loop gain will be greater. If inertia ratio is smallerthan actual value, setting unit of the velocity loop will be smaller.• The inertia ratio estimated during execution of real time auto tuningis saved in EEPROM every 30 minutes.• The parameter sets an operation mode of real time auto tuning. Asyou set this to a higher value such as 3, 6…, inertia change duringoperation will be quickly responded. However, operation maybecome unstable, depending on the operation pattern. Thus, werecommend that you usually set the parameter to 1 or 4.• In internal velocity control mode, the adaptaive filter function isdisalbed, and thus Pr2F adaptive filter frequency will be reset to 0.• The parameter sets mechanical stiffness during execution of realtime auto tuning in 16 stages.• If you change a setting sharply and abruptly, gain will vary suddenly,thus giving impact to the machine. Be sure to start with a smallsetting and gradually increase it while observing how the machine isrunning.• The parameter sets operation patterns of normal auto gain tuning.20212225Inertia ratioReal time autotuning set-upMachine stiffnessat auto turningNormal auto tuningmotion set-up0 - 10000[100]*0 - 70 - 15[4]0 - 7%–––Pr20 = (Load inertia/rotor inertia) x 100 [%]Parameters having standard default setup value with “*” mark are automatically set while real time autogain tuning is running. To change to manual, refer to “Cancellation of the Automatic Gain Tuning” on Page135 of Adjustment edition, disable real time auto gain tuning and then set.Parameters for Auto Gain TuningStandard Default Setup: [ ]Range ofSettingsLow ← Mechanical stiffness →HighLow ← Servo gain → HighLow ← Responsiveness → HighPr22 0 • 1- - - - - - - - - - - - 14 • 15Settings[0]1234567Number of Rotations2 rotations1 rotationRotation DirectionCCW → CWCW → CCWCCW → CCWCW → CWCCW → CWCW → CCWCCW → CCWCW → CW• Any change to this parameter will be valid when Servo-OFF switches to Servo-ON. For Pr02=1 (in internal velocity control mode), you can set the parameter only when the first notchfilter is set as disabled.Settings0[1]234567Real time auto tuningNot usedUsedNot usedDegree of changes in load inertia during operationLittle changeGradual changeSharp changeLittle changeGradual changeSharp changeAdaptive filterNoBuy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com