Panasonic minas a series - Adjustments; How to Adjust the Gain at Position Control Mode

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Adjustment
How to Adjust Gain Manually
Before Adjustment
You may adjust the gains by viewing or hearing the motions and sound of the machine during opera-
tion. But, to adjust the gains more quickly and precisely, you can obtain quicker and secure adjust-
ment by analog wave form monitoring.
1. Using the analogue monitor output
You can measure the actual motor speed,
commanded speed, torque, position error
in analog voltage level with an oscilloscope.
To do this, it is necessary to specify the types
of output signals and output voltage level
by using Pr07 (Velocity monitor selection),
Pr08 (Torque monitor selection).
For details, see "CN I/F Connector"
in the main part of this manual,
and "Details of Parameters" in Appendix.
2. Wave form graphic function of PANATERM
You can view the graphic information of
the command to the motor, actual motor
action (speed, torque and position error)
on the computer display screen.
For details, see the instructions of PANATERM.
ID MODE
IM SP G
SET
1K
1K
42
43
17
CN I /F
IM
SP
Guidance Values of Gains, and How to Adjust
See the table below for the guidance values of gains, if the inertia ratio has been set correctly.
How to adjust
1) Adjust the gain Pr11 and Pr12 which relate to the velocity loop.
2) Adjust the position loop gain, Pr10.
3) Pr10 (Position loop gain) should be smaller than Pr11 (Velocity loop gain).
<Note>
You cannot adjust the current loop gain, since these are fixed per the model.
Position loop gain
Pr10
100 ~ 150
50
70
Machine
Ball screw
Timing belt
Rack & pinion
Velocity loop gain
Pr11
200 ~ 300
100 ~ 200
100
Velocity loop integration time constant
Pr12
100 ~ 150
50
70
ID MODE
IM
NET
SER
I/F
SIG
U
V
W
L 1
L 2
L 3
B 1
B 2
r
t
P
SP G
SET
* Note
Connect to
CN SER
(not CN NET)
RS232C cable