Real Time Auto Gain Tuning; Application Range; How To Use; Outline - Panasonic MINAS A3 Series How To Use Manual

Real time auto gain tuning

Outline

Load inertia of the machine is estimated
at real time, and the optimum gain is set
up automatically based on the estimated
result. A load, which has a resonance, also
can be handled owing to the adaptive fil-
ter.

Application range

Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning
(see page 197 "Adjustments").
Load inertia
Load
Operation pattern

How to use

[1] Stop the motor (Servo-OFF).
[2] Set up Pr21 (Real-time auto tuning set-up) to 1 – 6.
Set up value before shipment is1.
Setting value Real-time auto tuning
0
[1]
2
3
4
5
6
7
When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.
When the influence of resonance is conceivable, select "adaptive filter YES".
[3] Set 0 – 2 to Pr22 (real-time auto tuning machine stiffness).
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time
auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
142
Operation command under
actual operation conditions
Conditions under which the real time auto gain tuning is prevented from functioning
• When the load inertia is smaller/larger than the rotor inertia
(3 times or less; or 20 times or more)
• When the load inertia fluctuates
• When the machine stiffness is extremely low
• When any unsecured part resides in such as backlash, etc.
• In case of a continuous low speed operation under 100 [r/min].
• In case of soft acceleration/deceleration under 2000 [r/min] per 1 [s].
• When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.
Changing degree of load inertia during operation
Not used
Used
Not used
Gain auto
Position/speed setting
command
Position/speed
control
Resonant frequency estimate
Load inertia estimate
–
Little change
Change slowly
Change s haply
Little change
Change slowly
Change s haply
–
Filter auto
tuning
Torque
Motor
command
current
Applied Current
filter control
Real time auto
gain tuning
Motor
speed
Servo driver
Adaptive filter
No
Yes
No
Yes
Motor
Encoder