4-5
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
1. Details of parameter
[Class 0] Basic setting
Pr0.02
Title
Real-time auto-gain tuning setup
Related
control mode
P S T F
Range
0 to 6
Unit
—
Default
1
You can set up the action mode of the real-time auto-gain tuning.
Setup
value
Mode
Varying degree of load inertia in motion
0
Invalid
Real-time auto-gain tuning function is disabled.
1
Standard
Basic mode. Do not use unbalanced load, friction compensation or
gain switching.
2
Positioning
*
1
Main application is positioning. It is recommended to use this mode
on equipment without unbalanced horizontal axis, ball screw driving
equipment with low friction, etc.
3
Vertical axis
*
2
With additional features to the positioning mode - use this mode to
positively and effectively compensate for unbalanced load to the
vertical axis or minimize variations in setting time.
4
Friction
compensation
*
3
With additional features to the vertical axis mode - use this mode to
positively and effectively reduce positioning setting time when the belt
driving axis has high friction.
5
Load characteristic
measurement
Estimate the load characteristics without changing current parameter
setting. This mode requires use of the setup support software.
6
Customize
*
4
Functions of real-time auto-gain tuning can be customized to meet the
requirements of the specific application by combining desired functions
according to the Pr6.32 “Real-time auto-gain tuning custom setting”.
*
1 Velocity and torque controls are the same as in the standard mode.
*
2 Torque control is the same as in the standard mode.
*
3 Velocity control is the same as in the vertical axis mode. Torque control is the same as
in the standard mode.
*
4 Certain function(s) is not available in a specific control mode. Refer to description in
Pr6.32.
Pr0.03
Title
Selection of machine stiffness at real-
time auto-gain tuning
Related
control mode
P S T F
Range
0 to 31
Unit
—
Default
A,B,C-frame
13
D,E,F-frame
11
Caution
You can set up the response while the real-time auto-gain tuning is valid.
0, 1 - - - - - - - 11 - - 13 - - - - - - - - - - - - 30, 31
low machine stiffness high
low servo gain high
low response high
Higher the setup value, higher the velocity response and servo stiffness will be obtained.
However, when increasing the value, check the resulting operation to avoid oscillation or
vibration.
Summary of Contents for MINAS A5-series
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