Panasonic MINAS A4P Series User Manual Page 142
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142
Position loop gain : 20
Velocity loop gain : 100
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 500
Inertia ratio : 100
+2000
-
2000
0
0.0 375250125 0.0 375250125 0.0 375250125
[r/min]
Command Speed
Motor actual speed
Gain setup : Low Gain setup : High
Gain setup : High + feed forward setup
Start adjustment
Automatic
adjustment ?
Ready for
command
input ?
Action O.K.?
Action O.K.?
Yes
Yes
Action O.K.?
Real time
auto-gain tuning
(Default)
Normal mode
auto-gain tuning
Release of
auto-adjusting
function
Manual gain tuning
Finish adjustment
Writing to EEPROM
Consult to authorized dealer
(see P.144)
(see P.148)
(see P.151)
(see P.152)
No
No
Load
characteristics
vary?
Yes
No
Yes
No
No
No
Yes
Yes
Release of
auto-adjusting
function
(see P.151)
Gain Adjustment
Purpose
It is required for the servo driver to run the motor in least time delay and as faithful as possible against the
commands from the host controller. You can make a gain adjustment so that you can run the motor as
closely as possible to the commands and obtain the optimum performance of the machine.
<e.g. : Ball screw>
Procedures
- AC Servo Motor and Driver 1
- MINAS A4P Series 1
- [Preparation] page 2
- [Setting] page 2
- [Operation Setting] page 3
- [Adjustment] page 4
- [When in Trouble] page 4
- [Supplement] page 5
- Before Using 9
- Safety Precautions 10
- [Before Using the Products] 11
- Maintenance and Inspection 12
- Introduction 14
- MSMD5AZS1S 15
- Parts Description 18
- How to Install 22
- [Preparation] 27
- • Wiring of the Main Circuit 28
- 11.0 or 32
- Tips on Wiring 34
- (by Tyco Electronics, AMP) 38
- (by Tyco Electronics , AMP) 38
- Cautions 40
- Wiring for Connector CN X5 42
- Interface Circuit 43
- Common input signals 44
- Setup with the Front Panel 48
- Built-in Holding Brake 50
- Dynamic Brake 52
- Parameter Setup 56
- Composition of Parameters 57
- List of Servo Parameter 58
- UnitTitle Function/Content 60
- Title Function/Content 65
- <Notes> 72
- Closed Control” 72
- List of Step Parameters 77
- Mode Change 81
- Monitor Mode 82
- Teaching Mode 87
- Parameter setup mode 91
- How to Use the Console 100
- SELECTION display 101
- [Setting] 103
- Outline of PANATERM 103
- How to Connect 103
- " 104
- Procedure of log on 104
- Log on of the "PANATERM 104
- [Operation Setting] 105
- Overview of Operation Setting 106
- Step Operation 107
- Homing Operation 114
- Limit Sensor 121
- Direction of homing 122
- Data Set 123
- Temporary Stop Operation 126
- Block Operation 127
- Step parameter 129
- 16-bit positioning parameter 129
- Sequential Operation 130
- Timing Chart 132
- –1 0 0 1 1 2 136
- Close the cover 137
- Absolute System 138
- What Is Full-Closed Control ? 140
- [Adjustment] 141
- Gain Adjustment 142
- Applicable Range 144
- How to Operate 144
- Adaptive Filter 147
- Normal Mode Auto-Gain Tuning 148
- Manual Gain Tuning (Basic) 152
- Gain Switching Function 155
- Instantaneous Speed Observer 160
- Damping Control 161
- [When in Trouble] 163
- When in Trouble 164
- Troubleshooting 172
- [Supplement] 175
- EC Directives 176
- EMC Directives 176
- Conformed Standards 176
- Installation Environment 176
- Surge Absorber 178
- Junction Cable for Encoder 182
- 105˚C 600V 183
- MFMCA0**2FCD 184
- MFMCA0**2FCT 184
- MFMCB0**0GET 184
- MFMCA0**3FCT 184
- 3) Table for wiring 185
- Part No. DV0P4420 188
- Fig.2 Fig.1 189
- DV0P2990 190
- Recommended components 191
- Dimensions (Driver) 192
- Mass 0.8kg 192
- Mass 1.1kg 192
- Mass 1.5kg 193
- Mass 1.7kg 193
- Mass 3.2kg 194
- Mass 6.0kg 194
- Dimensions (Motor) 195
- MSMD series 196
- MSMD 200W to 750W 197
- MSMA 1.0kW to 2.0kW 199
- MDMA 1.0kW to 1.5kW 201
- MDMA 4.0kW to 5.0kW 203
- MGMA 3.0kW to 4.5kW 205
- MFMA 2.5kW to 4.5kW 207
- MHMA 2.0kW to 5.0kW 209
- Motor with Gear Reducer 217
- Rotary encoder lead wire 218
- Position 222
- Voltage 222
- Block Diagram by Control Mode 224
- Full-closed Control Mode 225
- Input power supply 226
- Function 227
- Operation modeAuto tuning 227
- • Servo parameter (SV.Pr) 228
- FAX (03)3538-2964 231
- FAX (072)870-3151 231
- After-Sale Service (Repair) 232
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