№
SR-ZSV00039
－
27
－
Motor Business Unit, Appliances Company, Panasonic Corporation
3) Parameters controlling operation of real-time auto tuning
Configure the real-time auto tuning operation by setting the following parameters.
Category
No.
Parameter
Setup range
Unit
Function
0
02
Real-time
auto-gain tuning
setup
0～6
-
Specifies the operation mode of real-time auto tuning.
Setting
Mode
Description
0
Invalid
The real-time auto tuning function
is disabled.
1
Standard
The mode for the optimum
stability. No uneven load or
friction compensation takes place
and no gain switching is used.
2
Positioning
The mode for the optimum
positioning. Used for a ball
screw-driven device, etc. with no
uneven load and little friction, as
in a horizontal axis.
3
Vertical axis
In addition positioning mode,
compensation against biased load
on vertical axis is made to reduce
variations in settling time of
positioning.
4
Friction
compensation
In addition to the vertical axis
mode, settling time of positioning
is reduced for belt-drive axis
where frictions are high.
5
Load
characteristic
measurement
Basic gain settings and friction
compensation settings are not
changed and load characteristic
estimation only is made. This is
used in combination with setup
support software.
6
(No
setting)
It
can not be used.
0
03
Selection of machine
stiffness at realtime
auto-gain tuning
0～31
-
Specifies the response for enabled real-time auto tuning. A larger
setting increases the speed response and servo stiffness but invites
more vibration. Gradually increase the setting while monitoring the
operation.
While the RSW is not 0 ， the vaule of parameter can be
corrected by actual setting of RSW.Please
refer to 3.
the
front
panel specification.
6
31
Real time auto tuning
estimation speed
0～3
-
Specifies the load characteristics estimation speed for enabled
real-time auto tuning. A larger setting allows faster follow-up to
the variation in the load characteristics but also increases estimation
fluctuation due to disturbance. The result of estimation is stored in
the EEPROM every 30 minutes.
Setting
Mode
Description
0
No change
Terminates estimation of load
characteristic.
1
Little change
Responded against change of
load characteristic on the order of
minutes.
2
Gradual change
Responded against change of
load characteristic on the order of
seconds.
3
*
Steep change
Appropriate estimation is made
against change of load
characteristic.
* If oscillation automatic detection is made valid from setup support
software, this setting is ignored and operation is based on settings of
setting value 3.
