Panasonic A4P Series Title Setup Unit Function/Content PrNo Range, Setup value Content

Parameter Setup

Standard default : < >

Servo￿

Title

Setup￿

Unit

Function/Content

PrNo.

range

21

Real time auto

0 to 7￿

–￿

You can set up the action mode of the real-time auto-gain tuning.￿

tuning set up

<1>

With higher setup such as 3 or 6, the driver respond quickly to the change

of the inertia during operation, however it might cause an unstable

operation. Use 1 or 4 for normal operation.For the vertical axis application,

use with the setup of 4 to 6.￿

When vibration occurs at gain switching, set up this to "7".

Setup value￿

Real-time￿

Varying degree of ￿

auto-gain tuning￿

load inertia in motion￿

￿

0￿

Invalid￿

–￿

<1>￿

￿

Little change￿

2￿

Normal mode￿

Gradual change￿

3￿

￿

Rapid change￿

4￿

￿

Little change￿

5￿

Vertical axis mode￿

Gradual change￿

6￿

￿

Rapid change￿

7

No gain switching

Little change

22

Machine stiffness

0 to 15￿

–￿

You can set up the machine stiffness in 16 steps while the real-time auto-

at auto tuning

A to C-frame:

￿

gain tuning is valid.￿

<4>￿

￿

low machine stiffness

high￿

￿

D to F-frame:

￿

low

servo gain

high￿

￿

<1>

￿SV.Pr22

0, 1- - - - - - ￿- - - - - - 14, 15

￿

low

response

high

￿

<Caution>￿

When you change the setup value rapidly, the gain changes rapidly as

well, and this may give impact to the machine. Increase the setup

gradually watching the movement of the machine.

23

Adaptive filter

0 to 2￿

–￿

You can set up the action of the adaptive filter.

mode

<1>

Setup value￿

Content￿

0￿

Invalid￿

<1>￿

Valid￿

2

Hold (holds the adaptive filter frequency when this setup is changed to 2.)

24

Vibration

0 to 2￿

–￿

You

can select the

switching

method

when

you

use the vibration

suppression filter

<0>

suppression filter.

switching selection

Setup value￿

Content￿

<0>, 1￿

No switching (both of 1st and 2nd are valid.)￿

￿

You can switch with the position command direction.￿

2

CCW : 1st damping filter selection (SV.Pr2B, 2C).￿

CW

: 2nd damping filter selection (SV.Pr2D, 2E).

25

Normal auto tuning

0 to 7￿

–￿

You can set up the action pattern at the normal mode auto-gain tuning. ￿

motion setup

<0>

￿

￿

Rotational direction￿

Setup value￿Number of revolution

￿

<0>￿

￿

CCW

CW￿

￿

1￿

2 [revolution]

￿

CW

CCW￿

￿

2￿

CCW

CCW￿

￿

￿

3￿

CW

CW￿

￿

￿

4￿

CCW

CW￿

￿

￿

5￿

CW

CCW￿

1 [revolution]

￿

6￿

CCW

CCW￿

￿

7

CW

CW

e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2

revolutions to CW.

62