Real-Time Auto-Gain Tuning; Outline; Applicable Range; How To Operate - Panasonic minas a4 series Instruction Manual

Real-Time Auto-Gain Tuning

Outline

The driver estimates the load inertia of the ma-
chine in real time, and automatically sets up the
optimum gain responding to the result. Also the
driver automatically suppress the vibration caused
by the resonance with an adaptive filter.

Applicable Range

• Real-time auto-gain tuning is applicable to all
control modes.
Caution
Real-time auto-gain tuning may not be executed
properly under the conditions described in the
right table. In these cases, use the normal mode
auto-gain tuning (refer to P.236 of Adjustment),
or execute a manual gain tuning. (refer to P.240,
of Adjustment)

How to Operate

(1) Bring the motor to stall (Servo-OFF).
(2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 1-
7. Default is 1.
Setup
Real-time auto-gain tuning
value
0 (not in use)
<1>
2 normal mode
3
4
vertical axis mode
5
6
7 no-gain switching mode
• When the varying degree of load inertia is large, set up 3 or 6.
• When the motor is used for vertical axis, set up 4-6.
• When vibration occurs during gain switching, set up 7.
• When resonance might give some effect, validate the setup of Pr23
(Setup of adaptive filter mode).
(3) Set up Pr22 (Machine stiffness at real-time auto-gain tun-
ing) to 0 or smaller value.
(4) Turn to Servo-ON to run the machine normally.
(5) Gradually increase Pr22 (Machine stiffness at real-time
auto-gain tuning) when you want to obtain better response.
Lower the value (0 to 3) when you experience abnormal
noise or oscillation.
(6) Write to EEPROM when you want to save the result.
106
Position/Velocity
command
Action command under
actual condition
Load
inertia
Load
Action
pattern
Varying degree of load inertia in motion
–
no change
slow change
rapid change
no change
slow change
rapid change
no change
Auto-gain Auto-filter
setup adjustment
Position/Velocity Adaptive
control
Resonance frequency calculation
Load inertia calculation
Real-time auto-gain tuning
Servo driver
Conditions which obstruct
real-time auto-gain tuning
• Load is too small or large compared to rotor inertia.
(less than 3 times or more than 20 times)
• Load inertia change too quickly. (10 [s] or less)
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
• Motor is running continuously at low speed of 100 [r/min] or lower.
• Acceleration/deceleration is slow (2000[r/min] per 1[s] or low).
• Acceleration/deceleration torque is smaller than
unbalanced weighted/viscous friction torque.
• When speed condition of 100[r/min] or more and
acceleration/deceleration condition of 2000[r/min] per
1[s] are not maintained for 50[ms].
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.
Setup of parameter, Pr21
Press .
Press .
Match to the parameter No.
to be set up with
Press .
Change the setup with
Press .
Setup of parameter, Pr22
Match to Pr22 with
Press .
Numeral increases with
and decreases with
Press .
Writing to EEPROM
Press .
Press .
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish
Writing completes
Return to SELECTION display after writing finishes, referring
to "Structure of each mode"(P.60 and 61 of Preparation).
Torque Motor
command
current
Current
Motor
Filter control
Motor
speed
Encoder
. (Here match to Pr21.)
.
.
(default values)
,
.
Writing error
occurs