Panasonic A4P Series User Manual

150

(1) Turn to the normal auto-gain tuning 
     mode from the monitor mode, by 
     pressing the SET button, then press
     the mode switching button three times

.

     

For details, refer to P.81, "Structure 

     

of Each Mode" of Preparation.

(2) 

Enter the machine stiffness No. by pressing              .

Display of rotational speed 
of the motor (initial display)

Machine stiffness No.

Machine stiffness No. (High)

Machine stiffness No. (Low)

Tuning finishes 

normally

Tuning error

Value changes toward the direction as 
an arrow shows by pressing        and
changes toward the reversed direction 
by pressing       .

(3) Shift to MONITOR/EXECUTION mode 
     by pressing       .

(4) 

Operation at MONITOR/EXECUTION mode

     

Keep pressing        until the display 

     

changes to                      .

     

 • Pin-29 of the connector, CN X5 to be 

        

Servo-ON status.

     

Keep pressing       for approx.3sec, 

     

then bar increase as the right fig. shows. 

     

The motor starts rotating.

     

For approx. 15 sec, the motor repeats 

     

max. 5 cycles of CCW/CW rotation, 

     

2 revolutions each direction per one cycle. 

     

Tuning may finish before 5th cycles, 

     

however, this is not an error.

(5) Write the gain value to EEPROM to prevent 

     

them from being lost due to  the power shut off.

Ball screw direct connection

Ball screw + timing belt

Timing belt

Gear, Rack & Pinion

Others, low stiffness machine

8 to 14

6 to 12

4 to 10

2 to 8

0 to 8

Display of error.

Value of parameter 

related to gain (such as 

SV/Pr10) is kept as same 

as before the execution.

One of alarm, Servo-OFF or 

deviation counter clear has 

occurred.

Load inertia cannot be identi-

fied.

• Avoid an operation near the limit switch or home sensor switch.

• Turn to Servo-ON.

• Release the deviation counter clear

• Lower SV.Pr10 to 10 and SV.Pr11 to 50, then execute the 

tuning.

• Adjust the gain manually. (Calculate the load inertia, and then 

enter.)

<Caution>
Do not use the normal mode auto-gain tuning with the motor and driver alone. SV.Pr20 (Inertia ratio)
becomes to 0.