Gain Adjustment; Outline - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Purpose
t 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 adjust-
ment 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
0.0 125 250
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?
Fit gain function *
Action O.K.?
Writing to EEPROM
Finish adjustment
Note
For safety operation, first adjust the gain by referring to P.6-42 Setup of Gain Pre-adjustment
Protection.
5-2

1. Gain Adjustment

Outline

Gain setup : High
375 0.0
: 200 [0.1 /s] Position loop gain
: 1000 [0.1 Hz] Velocity loop gain
Time constant of
: 500 [0.1 ms]
V-loop integration
0 [0.10 %] Velocity loop feed forward :
: 100 [%] Inertia ratio
No
Yes
No
Yes
125 250 375
: 1000 [0.1 /s]
: 500 [0.1 Hz]
: 500 [0.1 ms]
0 [0.10 %]
: 100 [%]
Automatic
adjustment ?
No
Yes
Ready for
command
No
input ?
Yes
Operation by using
the trial run function
Real time
auto-gain tuning
Action O.K.?
No
Yes
Release of
auto-adjusting
function
Gain setup : High + feed forward setup
0.0 125 250
Position loop gain : 1000 [0.1 /s]
Velocity loop gain : 500 [0.1 Hz]
Time constant of
: 500 [0.1 ms]
V-loop integration
Velocity loop feed forward : 500 [0.10 %]
Inertia ratio : 100 [%]
* 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.
Release of
auto-adjusting
function
Manual gain tuning
Action O.K.?
No
Yes
Consult to authorized dealer
375
Rev.2.00