Datasheet

№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.