Adjustments; Purposes Of Gain Adjustments; Types Of Gain Adjustments - Panasonic MINAS S Series Operating Manual

Adjustments

Purposes of Gain Adjustment
In case of the servo motor, the motor is required to act per any command without any time delay,
or without missing any commands. To ensure this, gain adjustment is necessary.
<Example: ball screw>
Gain set-up: low
+200 +200
0 0
0 0
Actual velocity
Command Speed
- -
2000 2000
{ r/min}{r/min } 0.0 125
Position loop gain : 20
Velocity loop gain : 100
Velocity loop integration
time constant
Velocity feed forward
Inertia ratio
Types of Gain Adjustment
Type
Automatic Normal
auto gain tuning
adjustment
Real time auto
gain tuning
Manual Manual gain
tuning
adjustment
Gain tuning using
the rotary switch
for gain
adjustment
Gain set-up: high
250 375 0.0
Position loop gain : 100
Velocity loop gain : 50
Velocity loop integration
: 50 time constant
: 0
: 100 Inertia ratio
Accelerate and decelerate the motor per the
mode
preset (internally fixed) patterns to calculate the
load inertia from the required torque. Then
automatically define appropriate gains according
to the inertia.
During an actual operation, calculate the load
inertia in real time. Then automatically define
appropriate gains according to the inertia.
The gains will be automatically adjusted against
the fluctuation of load inertia during operation.
You can manually adjust the necessary gains to
obtain the most appropriate action by monitoring
command to the amplifier, motor speed, torque
and position error as the monitor signals (SP,
IM), or using the optional communication
software, PANATERM
graphic function).
Gain adjustment is available by digital setting
with the rotary switch.
125 250 375
Velocity
gain : 100 Velocity loop gain
: 50 : 50
: 100
Description
" (especially with its
- 66 -
+ Feed forward set-up
0.0 125 250
feed forward
: 0 Position loop
Inertia ratio
Gain set value of
rotary switch for
gain adjustment
0
1 - 9
375
:
100