Question

Panasonic A5 servo running jitter how to adjust the parameters?

I rarely use servo to do motion control, now use Panasonic A5 general servo to do a project, servo drive works in speed mode, position ring with motion controller to achieve, in the debugging process, first adjust the servo parameters, read the manual for half a day, roughly set the control mode and rotation direction, these are right, the speed loop gain does not know how to adjust, so they are run according to the factory default, that is, the automatic gain adjustment is effective, and the mechanical device is found to have vibration during operation, I modified the rigidity setting when adjusting the gain of PR0.03, and the vibration did not improve, and then changed the automatic gain adjustment of PR0.02 to 0 is invalid, and manually modified the gain of the first speed loop of PR1.01 and the first integration time constant of PR.02, as if the vibration was not significantly improved. Now very confused and don't know how to fix this? I beg you all to help! Main questions: 

1. Is the PR0.02 automatic gain adjustment function enabled? If I use automatic adjustment, do I need to set the rigidity setting and PR0.04 inertia ratio during PR0.03 gain adjustment? 

2. If automatic gain adjustment is turned off, is the PR0.04 inertia ratio still set? What is the relationship between this parameter and the gain of the first velocity loop of PR1.01 and the first integration time constant of PR.02? 

3. When vibration occurs, how to exclude the mechanical installation cause or the improper adjustment of electrical parameters? 

4. If the electrical parameters are not set well, how to set the servo parameters? 

5. After checking the Internet for half a day, what is the technical service phone number of Panasonic Servo? Feel that the official technical support is too inadequate? Thank you all for your help!

Answer 1

PRR002 is set to non-0, standard 1

This can be understood as the switch for PRR002 to set PRR003,

Automatic gain adjustment function starts,

The PRR003 requires manual setup

PRR004 This setting will also change. Usually, it will change automatically during the movement of the device

The difference between PR1.01 and PR1.02 equivalents is the group value when the value set by PRR003 is different

As shown in the figure below, PR003 is 1 at 11 and 8. 001-1。 009 corresponds to different values.
 
How to judge the situation of vibration, if the speed of the equipment is not very fast, you can consider manually pushing the machine, if there is no vibration, then there is not much problem with mechanical installation, or rigid problems.

I don't know if your vibration refers to the time to the end, or to the process. With speed mode, the vibration at the end point is better than in position mode, but it doesn't feel like the strong vibration you say.

It is recommended that PRR002 set a suitable non-1 value, PRR003 is adjusted slowly, and PRR004 can be preset

Answer 2

My device is like this, the motor 1000w through the 1:10 reducer to drive a straight rod swing back and forth within a certain angle range, when swinging counterclockwise (swinging vertically from the pendulum to the horizontal left), the pendulum has no jitter, and when moving in the opposite direction (swinging from the pendulum horizontal to the left to the vertical up) the pendulum shakes, all in the process of shaking. I consider that the load changes due to gravity when swinging counterclockwise and clockwise, should I set PR002 to 3 (vertical axis mode)?

Answer 3

Panasonic's automatic tuning is used in applications where inertia and rigidity requirements are not high.

It is recommended to use non-real-time automatic adjustment method;

You take the P020 inertia larger than the appropriate setting.

Answer 4

Your servo works in speed mode, position ring gain does not work, position ring gain is on top! Purely run-time jitter, try to increase the gain parameter of 101, and at the same time reduce the setpoint of 104, provided that 115 is set to 0 for the first gain to be valid.

Answer 5

To Panasonic A5 servo work: When jitter is running, shouldn't the gain of the P101 speed loop be reduced, and why should it be increased?