Gain Adjustment; Outline - Panasonic MINAS A6 Series Operating Instructions Manual

5
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 op-
timum performance of the machine.
<e.g. : Ball screw>
Gain setup : Low
[r/min]
+2000
0
Command Speed
-
2000
0.0
Position loop gain
Velocity loop gain
Time constant of
V-loop integration
Velocity loop feed forward :
Inertia ratio
Procedures
Start adjustment
Adjust by
using fit gain
function?
Yes
Fit gain function *
Action O.K.?
Yes
Writing to EEPROM
Finish adjustment
Note
For safety operation, first adjust the gain by referring to P.6-29 Setup of gain pre-adjustment
protection.
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
5-2

1. Gain Adjustment

Outline

Motor actual speed
125 250 375
: 20
: 100
: 50
0
: 100
No
Automatic
adjustment ?
Ready for
command
Real time
auto-gain tuning
No
Action O.K.?
Release of
auto-adjusting
function
Gain setup : High
0.0 125 250
Position loop gain
Velocity loop gain
Time constant of
V-loop integration
Velocity loop feed forward :
Inertia ratio
* Fit gain function is a function of the setup
support software, "PANATERM".
Please use the software and the manual
by download from our web site.
No
Yes
No
input ?
Yes
Operation by using
the trial run function
No
Yes
Gain setup : High + feed forward setup
375 0.0 125
: 100 Position loop gain
: 50 Velocity loop gain
Time constant of
: 50
V-loop integration
0 Velocity loop feed forward : 500
: 100 Inertia ratio
Release of
auto-adjusting
function
Manual gain tuning
Action O.K.?
No
Yes
Consult to authorized dealer
250 37
: 100
: 50
: 50
: 100