Auto Gain Adjustment - Leadshine EL8-EC Series User Manual

6.4 Auto gain adjustment

This function will measure real time mechanical properties and set gain values in
accordance to mechanical stiffness. Can be used in any control mode
Please refer to Pr0.02 for detailed explanations. Auto gain adjustment is
Control mode
different for each control mode.
・Servo driver needs to be enabled
・Set up input signals such as deviation counter clearing and command
Other
input; Torque limit and other motion control parameters to enable motor to
move normally without obstacles.
Under certain conditions, external factors might affect automatic gain adjustment functions.
If the conditions as listed exist or unfavorable, please disable the automatic gain
adjustment function.
・If inertia is less than 3 times or over 20 times of rotor inertia.
Load inertia
・Changes in load inertia
・Very low mechanical stiffness
Load
・If gear backlash is a non-linear property
・Velocity less than 100r/min or continuously in low velocity mode
・Acc-/deceleration to 2000r/min within 1s. 。
・Acc-/deceleration torque lower than eccentric load, frictional torque.
Motion
・Velocity < 100r/min, acc-/deceleration to 2000r/min within 1s but not longer
than 50ms
To enable automatic gain adjustment:
1. Disable the servo driver.
2. Set Pr0.02 = 0x01/0x11 or 0x02/0x12. Then, set Pr0.03
3. Servo enabled. Run motion as normal to start measuring load properties.
Related parameters will be automatically set.
4. Increase motor responsiveness by increasing Pr0.03. Please check if there is
any vibration before setting Pr0.03 to max. value.
5. Save the parameters.
Please take note:
- Please stop the motor before modifying any parameter. Pr0.02 only takes effect after
saving modified parameter values into EEPROM and restarting the driver.
- After enabling the servo driver for the first time or when increasing Pr0.03, mechanical
noise or vibration might occur for the first run, it is normal. If it persists, please set Pr0.03
to lower value.
Conditions to implement
Affecting conditions
User manual of EL8-EC***F AC Servo
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