Real-Time Auto-Gain Tuning; Real-Time Auto-Gain Tuning Basic - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
The system estimates the load characteristics in real time, and automatically performs
basic gain setting and friction compensation by referring to stiffness parameter.
Position/
Velocity
command
Applicable Range
Real time auto-gain tuning is applicable to all control modes.
Control Mode
Others
Caution
•After the power is turned on, estimate value following may become quicker regardless
of Pr6.31 "Real-time auto tuning estimation speed" until operation data effective for the
estimation of load characteristics is sufficiently accumulated.
•When real-time auto-gain tuning is effective, an estimate value may become abnormal
due to disturbance. If you want to obtain stable operation from when the power is turned
on, it is recommended to disable the real-time auto-gain tuning.
Real-time auto-gain tuning may not be executed properly under the conditions described
in the table below. Under these conditions, change the load condition or operation pattern,
or start manual gain tuning (refer to P.5-31).
Load inertia
Load
Action
pattern
5-4

2. Real-Time Auto-Gain Tuning

Basic
Basic gain automatic
Adaptive
setting
process
Position/
Notch
Velocity
filter
control
Specific real-time auto-tuning mode is selected according to the currently
active control mode. For details, refer to the description of Pr0.02 Real-
time auto-tuning setup.
• Should be in servo-on condition
• Parameters except control parameters such as torque limit settings are
correctly set, assuring that the motor can run smoothly.
Conditions which obstruct real-time auto-gain tuning action
• The load is too small or large compared to the rotor inertia. (less than 3
times or more than 20 times).
• The load inertia changes too quickly.
• The machine stiffness is extremely low.
• Nonlinear characteristics such as backlash exist.
• The 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 the 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].
Friction torque
Torque
compensation
command
Torque
command
Generation
Load characteristic
estimation
Resonant frequency
measurement
Servo driver
Real-time auto-tuning condition
Motor
current
current
Motor
control
Motor
speed
Encoder
Rev.2.00