Panasonic A4P Series User Manual
149
[Adjustment]
Adjustment
10 1st position loop gain
11 1st velocity loop gain
12 1st velocity loop integration time constant
13 1st speed detection filter
14 1st torque filter time constant *2
15 Velocity feed forward
16 Feed forward filter time constant
18 2nd position loop gain
19 2nd velocity loop gain
1A 2nd velocity loop integration time constant
1B 2nd speed detection filter
1C 2nd torque filter time constant *2
20 Inertia ratio
27 Velocity observer
30 2nd gain action set up
31 1st control switching mode
32 1st control switching delay time
33 1st control switching level
34 1st control switching hysteresis
35 Position loop gain switching time
0
[
1
]
2
3
[
4
]
5
6
7
8
9
10
11
12
13
14
15
12
9
62
0
253
300
50
19
9
999
0
253
0
1
10
30
50
33
20
32
18
31
0
126
300
50
38
18
999
0
126
0
1
10
30
50
33
20
39
22
25
0
103
300
50
46
22
999
0
103
0
1
10
30
50
33
20
48
27
21
0
84
300
50
57
27
999
0
84
0
1
10
30
50
33
20
63
35
16
0
65
300
50
73
35
999
0
65
0
1
10
30
50
33
20
72
40
14
0
57
300
50
84
40
999
0
57
0
1
10
30
50
33
20
90
50
12
0
45
300
50
105
50
999
0
45
0
1
10
30
50
33
20
108
60
11
0
38
300
50
126
60
999
0
38
0
1
10
30
50
33
20
135
75
9
0
30
300
50
157
75
999
0
30
0
1
10
30
50
33
20
162
90
8
0
25
300
50
188
90
999
0
25
0
1
10
30
50
33
20
206
115
7
0
20
300
50
241
115
999
0
20
0
1
10
30
50
33
20
251
140
6
0
16
300
50
293
140
999
0
16
0
1
10
30
50
33
20
305
170
5
0
13
300
50
356
170
999
0
13
0
1
10
30
50
33
20
377
210
4
0
11
300
50
440
210
999
0
11
0
1
10
30
50
33
20
449
250
4
0
10
300
50
524
250
999
0
10
0
1
10
30
50
33
20
557
310
3
0
10
300
50
649
310
999
0
10
0
1
10
30
50
33
20
Stiffness value
represents parameters with fixed value. Default for A to C-frame is 4, and 1 for D to F-frame.
*2 Lower limit for stiffness value is 10 for 17-bit encoder, and 25 for 2500P/r encoder.
Title
Pr
No.
Estimated load inertia ratio
Auto-Gain Tuning Action
(1) In the normal mode auto-gain tuning, you can set up the response with machine stiffness No..
Machine stiffness No.
• Represents the degree of machine stiffness of the customer's machine and have values from o to 15.
You can set a higher No. to the high stiffness machine and set up a higher gain.
• Usually start setting up with a lower value and increase gradually to repeat auto-gain tuning in the
range where no oscillation, no abnormal noise, nor vibration occurs.
(2) This tuning repeats max. 5 cycles of the action pattern set with SV.Pr25 (Normal auto tuning motion
setup). Action acceleration will be doubled every one cycle after third cycle. Tuning may finish, or action
acceleration does not vary before 5th cycle depending on the load, however, this is nor an error.
acceleration does not vary before 5th cycle depending on the load, however, this is nor an error.
How to Operate
(1) Set up the action pattern with SV.Pr25.
(2) Shift the load to the position where no hazard is expected even though the action pattern which is set
(2) Shift the load to the position where no hazard is expected even though the action pattern which is set
with SV.Pr25 is executed.
(3) Prohibit the command entry. (Do not enter the action command during the normal mode auto-gain tuning.)
(4) Turn to Servo-ON.
(5) Start up the auto-gain tuning. Use the "PANATERM
(4) Turn to Servo-ON.
(5) Start up the auto-gain tuning. Use the "PANATERM
®
".
(6) Adjust the machine stiffness to the level at which no vibration occurs and obtain the required response.
(7) Write the result to EEPROM, if it is satisfactory.
(7) Write the result to EEPROM, if it is satisfactory.
Parameters Which Are Automatically Set
Table of auto-gain tuning