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(3) Caution
-
Under the following conditions, the real time auto gain tuning may not function properly.
In such case, use the normal mode auto gain tuning or manual gain tuning.
Load inertia
Load
Operation pattern
(4) How to use
[1] Stop the motor (Servo-OFF).
[2] Set up Servo parameter No.21 (Real-time auto tuning set-up) to 1-7.
Set up value before shipment is1.
When the changing degree of the load inertia is too large, set Servo parameter No.21 to 3 or 6.
When using it in the vertical axis, use 4 - 6.
When any influence of gain switching is considered using continuous path control, set Servo
parameter No.21 to 7.
When any influence of resonance is considered, make Servo parameter No.23 (adaptive filter mode)
enabled.
[3] Set up Servo parameter No.22 (Machine stiffness at auto tuning) to 0 or a lower value.
[4] Turn the servo ON to operate the machine ordinarily.
[5] To increase the response performance, gradually increase Servo parameter No.22 (Machine
stiffness at auto tuning). When any noise or vibration is found, decrease the Servo parameter
No.22 to a lower value soon.
[6] To store the result, write the data into the EEPROM.
A4P
Conditions under which the real time auto gain tuning is prevented from functioning
- When the load inertia is smaller/larger than the rotor inertia
(less than 3 times; 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 not more than 2000 [r/min] per 1 [s].
- When conditions such as the speed of 100 [r/min] or more speed and the
acceleration/deceleration of 2000 [r/min] or more per second does not continue for 50
[ms] or more.
- When acceleration/deceleration torque is smaller than unbalanced load/viscous
friction torque.
Setting
Real-time auto tuning
value
0
Not used
1
2
Normal mode
3
4
5
Vertical axis mode
6
7
Gain switching
invalid mode
MOTOR COMPANY, MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD
Changing degree of load inertia
during operation
― ― ― ― ―
No change
Change slowly
Change sharply
No change
Change slowly
Change sharply
No change
- 93 -
No. SR-DSV09485
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