Panasonic MINAS A3 Series Real time auto gain tuning, Outline, Application range, How to use

Real time auto gain tuning

Outline

Load inertia of the machine is estimated at real time, and the optimum gain is set up automatically based on the estimated result. A load, which has a resonance, also can be handled owing to the adaptive fil- ter.

Position/speed	Gain auto	Filter auto
	setting	tuning	Torque	Motor
command			command
	Position/speed	Applied		current
			Current
	control	filter	control	Motor
Operation command under
actual operation conditions
	Resonant frequency estimate
	Load inertia estimate
		Real time auto
		gain tuning		Motor
				speed
				Encoder
		Servo driver

Application range

Under the following conditions, the real time auto gain tuning may not function properly.

In such case, use the normal mode auto gain tuning (see page 193 "Adjustments") or manual gain tuning (see page 197 "Adjustments").

	Conditions under which the real time auto gain tuning is prevented from functioning
	• When the load inertia is smaller/larger than the rotor inertia
Load inertia	(3 times or less; or 20 times or more)
	• When the load inertia fluctuates
Load	• 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].
Operation pattern	• In case of soft acceleration/deceleration under 2000 [r/min] per 1 [s].
	• When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.

How to use

[1]Stop the motor (Servo-OFF).

[2]Set up Pr21 (Real-time auto tuning set-up) to 1 – 6. Set up value before shipment is1.

Setting value	Real-time auto tuning	Changing degree of load inertia during operation	Adaptive filter
0	Not used	–	No
[1]		Little change
2		Change slowly	Yes
3	Used	Change s haply
4		Little change
5		Change slowly	No
6		Change s haply
7	Not used	–	Yes

When the changing degree of the load inertia is too large, set Pr21 to 3 or 6.

When the influence of resonance is conceivable, select “adaptive filter YES”.

[3]Set 0 – 2 to Pr22 (real-time auto tuning machine stiffness).

[4]Turn the servo ON to operate the machine ordinarily.

[5]To increase the response performance, gradually increase Pr22 (Machine stiffness at real-time auto tuning). When any noise or vibration is found, decrease the Pr22 to a lower value soon.

[6]To store the result, write the data into the EEPROM.

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