Filter
Top Products
- 54 -
How to Use "Real Time Auto-Gain" Tuning
Automatic tuning is available when the gain adjustment rotary switch GAIN is
set to "0" position only.
1) Start PANATERM
“
, and go to Parameter Set-up Mode.
2) Set Pr1F (Disturbance torque observer) to 8 (invalid).
3) Set Pr22 (Real time auto tuning machine stiffness).
Driving method
Ball screw + direct coupling
Ball screw + timing belt
Timing belt
Gear, or rack & pinion
Others: lower stiffness
Mechanical stiffness
4 ~ 8
3 ~ 6
2 ~ 5
1 ~ 3
1 ~ 3
Adjustments
4) Set Pr21 (Real time auto tuning mode) to 1 or 2.
• The operation may not be stable depending on the operation pattern. In this case, set the param-
eter to 0 (to disable the auto tuning function).
• With a larger value, the response to the change in load inertia (acceleration) is quicker.
5) Start the motor.
6) If the fluctuation in load inertia is small, stop the motor (machine), and set Pr21 to 0 to fix the gain
(in order to raise the safety).
7) FDownload the obtained gain values to EEPROM. Note that if you turn off the power before down-
loading, the gain values will be lost.
<Notes>
• Before changing Pr21 or Pr22, stop (servo-lock) the motor.
• Don't modify Pr10 through Pr15.
Otherwise it may give a shock to the machine.
Pr21 value
0
1
2
3
Real time auto tuning set-up
Disabled
Enabled
Fluctuation of load inertia during operation
---------
Almost no change
Small change
Quick change
First, set the parameter to the smallest value
and then gradually increase with which no ab-
normal sound or vibration will occur.