Gain Adjustment - Panasonic MINAS A4P Series Instruction Manual

Gain Adjustment

Purpose
It is required for the servo driver to run the motor in least time delay and as faithful as possible against the
commands from the host controller. You can make a gain adjustment so that you can run the motor as
closely as possible to the commands and obtain the optimum performance of the machine.
<e.g. : Ball screw>
Gain setup : Low
[r/min]
+2000
0
Motor actual speed
Command Speed
-
2000
0.0 125
Position loop gain
Velocity loop gain
Time constant of
V-loop integration
Velocity loop feed forward :
Inertia ratio
Procedures
Start adjustment
Automatic
adjustment ?
Yes
Ready for
command
input ?
Yes
(Default)
Real time
auto-gain tuning
Action O.K.?
Yes
Load
characteristics
vary?
Yes
Writing to EEPROM
Finish adjustment
142
250 375 0.0
: 20 Position loop gain
: 100 Velocity loop gain
Time constant of
: 50
V-loop integration
0 Velocity loop feed forward :
: 100 Inertia ratio
No
No
(see P.144)
Normal mode
auto-gain tuning
Action O.K.?
No
No
(see P.151)
Release of
auto-adjusting
function
Gain setup : High
125 250 375
: 100
: 50
: 50
0
: 100
Release of
auto-adjusting
(see P.148)
No
Yes
Manual gain tuning
Action O.K.?
Gain setup : High + feed forward setup
0.0 125 250
Position loop gain : 100
Velocity loop gain : 50
Time constant of
: 50
V-loop integration
Velocity loop feed forward : 500
Inertia ratio : 100
(see P.151)
function
(see P.152)
No
Yes
Consult to authorized dealer
375