Panasonic MSDA043A1A Operating Manual page 56

Adjustments
Purposes of Gain Adjustment
In case of the servo motor, the motor is required to act per any command without any
time delay, or without missing
any commands. To ensure this, gain adjustment is necessary.
<Example: ball screw>
Gain set-up: low
+2000 +2000
0 0
Speed
Actual velocity
-2000 -2000
0.0 125
｛r pm｝ ｛r pm｝
Position loop gain
Velocity loop gain
Velocity loop integration time constant：50
Velocity feed forward
Inertia ratio
Types of Gain Adjustment
Automatic Normal mode
adjustment auto gain tuning
Real time
auto gain tuning
Manual Manual gain tuning
adjustment
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Gain set-up: high
Command
250 375 0.0
：20 Position loop gain
：100 Velocity loop gain
Velocity loop integration time constant：30
：0 Velocity feed forward
：100 Inertia ratio
Type
125 250 375
：130 Position loop gain
：260 Velocity loop gain
Velocity loop integration time constant：30
：0 Velocity feed forward
：100 Inertia ratio
Description
Accelerate and decelerate the motor per the preset
(internally fixed) patterns to calculate the load inertia
from the required torque. Then automatically define
appropriate gains according to the inertia.
During an actual operation, calculate the load inertia in
real time. Then automatically define appropriate gains
according to the inertia.The gains will be automatically
adjusted against the fluctuation of load inertia during
operation.
You can manually adjust the necessary gains to obtain
the most appropriate action by monitoring command to
the driver, motor speed, torque and position error as the
monitor signals(SP, IM), or using the optional
communication software, PANATERM(especially with is
graphic functi
− 55 −
+Feed forward set-up
0.0 125 250
：130
：260
：50
：100
375