Type, Explanation | Panasonic A4P Series specs

[Adjustment]

Type

Automatic adjustment

Manual adjustment

Function

Real-time auto-gain tuning

Adaptive filter

Normal mode auto-gain tuning

Release of automatic gain adjusting function

Manual gain tuning (basic)

Basic procedure

Gain switching function

Suppression of machine resonance

Manual gain tuning (application)

Instantaneous speed observer

Damping control

	Explanation	Pages
	Explanation	to
		refer
	Estimates the load inertia of the machine in real time, and auto-
	matically sets up the optimum gain corresponding to this result. P.144
	Reduces the resonance vibration point by automatically setting

	up the notch filter coefficient which removes the resonance
	component from the torque command while estimating the res-	P.147
	onance frequency from the vibrating component which appears
	n the motor speed in actual operating condition.
	n the motor speed in actual operating condition.
	Sets up the appropriate gain automatically by calculating the

	load inertia from the torque required to run the motor in the
		P.148
	command pattern automatically created in the driver.
	Describes the cautions when you invalidate the real-time auto-
		P.151
	gain tuning or adaptive filter which are defaults.	P.151
	gain tuning or adaptive filter which are defaults.
	Execute the manual adjustment when real-time auto-gain tun-
	Execute the manual adjustment when real-time auto-gain tun-
	ing cannot be executed due to the limitation of control mode
		P.152
	and load condition, or when you want to obtain an optimum re-	P.152
	sponse depending on each load.
	sponse depending on each load.
	Adjustment of position control mode
	Adjustment of position control mode	P.153
	Adjustment of full-closed control mode	P.154
	You can expect to reduce vibration at stopping and settling
	time and to improve command compliance by switching the	P.155
	gains by internal data or external signals.
	When the machine stiffness is low, vibration or noise may be gen-
	erated due to the distorted axis, hence you cannot set the higher	P.158
	gain. You can suppress the resonance with two kinds of filter.
	You can obtain the higher performance while you are not satis-
	fied with the performance obtained with the basic adjustment,	P.160
	using the following application functions.
	Function which obtains both high response and reduction of vi-
	bration at stopping by estimating the motor speed with the load	P.160
	model, and hence improves the accuracy of speed detection.
	Function which reduces vibration by removing the vibration fre-

	quency component while the front end of the machine vibrates. P.161

Adjustment

<Remarks>

•Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the main power, or turn to Servo-OFF.

143

Panasonic A4P Series instruction manual Type, Explanation

Models: A4P Series

[Adjustment]

Type

Function

Adaptive filter

Gain switching function

Suppression of machine resonance

Instantaneous speed observer

Damping control

Explanation

refer

up the notch filter coefficient which removes the resonance

gains by internal data or external signals.

using the following application functions.

<Remarks>

[Adjustment]

Type

Function

Adaptive filter￿

Gain switching function￿

Suppression of machine ￿ resonance ￿

Instantaneous speed observer￿

Damping control

Explanation

refer

up the notch filter coefficient which removes the resonance

gains by internal data or external signals.￿

using the following application functions.￿

<Remarks>

Adaptive filter

Gain switching function

Suppression of machine resonance

Instantaneous speed observer

gains by internal data or external signals.

using the following application functions.