Panasonic A4P Series instruction manual Gain Adjustment, Purpose, Procedures, Ball screw

Gain Adjustment

Purpose

It 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 adjustment 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>

[r/min]	Gain setup : Low
+2000
0
		Motor actual speed
Command Speed
-2000	125	250	375
0.0

Position loop gain￿	:	20￿
Velocity loop gain￿	:	100￿
Time constant of￿	:	50￿
V-loop integration￿
Velocity loop feed forward￿:		0￿
Inertia ratio￿	:	100

Gain setup : High

0.0 125 250 375

Position loop gain￿	:	100￿
Velocity loop gain￿	:	50￿
Time constant of￿	:	50￿
V-loop integration￿
Velocity loop feed forward￿:		0￿
Inertia ratio￿	:	100

Gain setup : High + feed forward setup

0.0 125 250 375

Position loop gain￿	:	100￿
Velocity loop gain￿	:	50￿
Time constant of￿	:	50￿
V-loop integration￿
Velocity loop feed forward￿:		500￿
Inertia ratio￿	:	100

Procedures

Start adjustment

Automatic￿
adjustment ?		No
	Yes
				(see P.151)
	Ready for￿			Release of￿
	command￿	No		auto-adjusting￿
	input ?			function
	Yes
(Default)
	(see P.144)		(see	P.148)
Real time￿			Normal mode￿
auto-gain tuning			auto-gain tuning
			Action O.K.?	No
			Yes
Action O.K.?		No
	Yes
	Load￿
characteristics￿		No
	vary?		(see P.151)	(see P.152)
	Yes
			Release of￿
				Manual gain tuning
			auto-adjusting￿
			function
				Action O.K.?
				No
				Yes

Writing to EEPROM

Finish adjustment Consult to authorized dealer

142