Real-Time Auto Tuning - Panasonic Minas-LIQI Series Technical Reference

5－1－1 Real-time Auto Tuning
Load characteristic of a machine is estimated on a real-time basis, and using the results, basic gain set-
tings and friction compensation are automatically specified in accordance of hardness parameters.
1) Scope of application
This function is enabled under the following conditions:
In Servo On status.
 Parameters for other functions than control, such as deviation counter clearing, input
Operation status
signals such as command input prohibition, and torque limit settings, must be specified
appropriately and normal rotation of motor must have no problems.
2) Cautions
Real-time auto tuning may not normally function in the following conditions. If that happens, change
the load conditions/operation pattern or see the descriptions about manual tuning to manually configure
relevant parameters.
 The load inertia is too small or large with reference to the rotor inertia (smaller than three times
or 20 times or larger).
 The load inertia varies.
Load condition
 The mechanical stiffness is extremely low.
 Any non-linear characteristic exists such as backlash.
 Continuous use at a low speed of less than 100 [r/min]
 The acceleration is low at 2000 [r/min] per 1 [s].
 A speed at 100 [r/min] or higher or a acceleration/deceleration of 2000 [r/min] per 1
Operation pattern
[s] does not continue for 50 [ms] or longer.
 The acceleration/deceleration torque is small with reference to the uneven load/
viscous friction torque.
Conditions for real-time auto tuning
Conditions hindering real-time auto tuning
Motor Business Unit, Appliances Company, Panasonic Corporation
№SR-ZSV00039 － 26 －