Panasonic MINAS A3 Series manual Parameters for real time auto gain tuning

Parameter Setting

Parameters for real time auto gain tuning

								Default setting is shown by [ ]
Parameter	Parameter Name	Setting		Unit			Function/Description
No.		range
20	Inertia ratio	0 – 10000		%	• Defines the ratio of load inertia to the motor's rotor inertia.
		[100]*
						Pr20 = (rotor inertia / load inertia) x 100[%]
					• When you execute auto gain tuning, load inertia will be estimated and
					the result will be reflected in this parameter.
					Pr11 and Pr19 will be set in terms of (Hz) when inertia ratio has been set
					correctly. When Pr20 inertia ratio is greater than the actual ratio, setting
					of the speed loop gain will increase. When Pr20 inertia ratio is smaller
					than the actual ratio, setting of speed loop gain will decrease.
21	Real time auto	0 – 7		–	• Defines the operation mode of real-time auto tuning. Increasing the set
	tuning set up				value (3, 6,...) provides higher response to the inertia change during
					operation. However, operation may become unstable depending on the
					operation pattern. Normally, set this parameter to "1" or "4".
					• If you set this parameter to any value other than 0, Pr27 disturbance
					observer filter selection will be disabled (0). In addition, if you set the
					adaptive filter to disabled, Pr2F adaptive filter frequency will be reset to 0.
					• When Pr20 is "0", Pr2F (Adaptive notch frequency) is reset to "0".
					In the torque control mode, the adaptive notch filter is always invalid.
			Setting value			Real-time Auto Gain		Degree of Changes	Adaptive Filter
						Tuning		in Load Inertia
				0		Not used		–		Absent
				[1]				Hardly changes.
				2				Changes moderately.		Present
				3		Used		Changes sharply.
				4				Hardly changes.
				5				Changes moderately.		Absent
				6				Changes sharply.
				7		Not used		–		Present

•Note that any change in this parameter will be enabled when Servo OFF changes to Servo ON.

22

Machine stiffness

0 – 15

–

• Defines the machine stiffness during execution of real-time auto tuning.

at auto tuning

[4]

Low

Machine stiffness

High

Low

Servo gain

High

Pr22

0 , 1- - - - - -

- - - -

- - 14, 15

Low

Responsiveness

High

• If the parameter value is rapidly changed, the gain significantly changes,

applying a shock to the machine. Be sure to set a small value first, and

increase it gradually, while monitoring the operating condition.

25

Normal auto

0 – 7

–

• Defines the operation pattern of the normal mode auto tuning.

tuning motion

Set value

Number of revolutions

Revolving direction

set up

[0]

CCW –› CW

1

2[revolution]

CW –› CCW

2

CCW –› CCW

3

CW –› CW

4

CCW –› CW

5

1[revolution]

CW –› CCW

6

CCW –› CCW

7

CW –› CW

Example) Setting this parameter to "0" provides two CCW revolutions and

two CW revolutions.

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