Panasonic A4P Series Real-Time Auto-Gain Tuning Mode, Outline, Applicable Range, How to Operate

Real-Time Auto-Gain Tuning Mode

Outline

Estimates the load inertia of the machine in real time and sets up the optimum gain automati- cally responding to the result. Also, an adaptive filter can cope with any load caused by the resonance.

Position/Velocity￿	Gain￿		Filter￿			Motor￿
	auto-setup	auto-adjustment		Torque￿
						current
command	Position/Velocity￿		Adaptive￿command		current￿
						Motor
	control		Filter		control
Action command under ￿
actual condition
	Resonance frequency ￿
		estimation
		Load inertia estimation
		Real time ￿				Motor￿
		auto-gain tuning
						speed
						Encoder
		Servo driver

Applicable Range

	Conditions under which the real-time auto-gain tuning is activated
	•￿Real time auto-gain tuning is applicable to all control modes.￿
Control mode￿	￿However, the load inertia estimation will be disabled when a motor trial operation function
	is executed and a frequency characteristics measurement function of “PANATERM®” is
￿
	used.￿
￿
	•￿The servo turns on.￿
￿
	•￿Any factors, including Deviation Counter Clear command input inhibition and torque limit,
Others
	other than control parameter are set appropriately and the motor can rotate normally
	without any problem.

Caution

Real-time auto-gain tuning may not be executed properly under the conditions described in the table below. In these cases, use the normal mode auto-gain tuning (refer to P.148), or execute the manual auto-gain tuning (refer to P.152).

	Conditions which obstruct real-time auto-gain tuning action
Load inertia	• The load is too small or large compared to the rotor inertia. (less than 3 times or more than 20 times)￿
	• The load inertia changes too quickly (10 [s] or less)￿
Load	• The machine stiffness is extremely low.￿
	• A chattering such as backlash exists.￿
	• The motor is running continuously at low speed of (100 [r/min] or lower.￿
	• Acceleration/deceleration is slow (2000 [r/min] per 1[s] or low).￿
Action pattern	• Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque.￿
	• When the speed condition of 100 [r/min] or more and acceleration/deceleration condition	￿
	of 2000 [r/min] per 1 [s] are not maintained for 80 [ms].

How to Operate

1)Bring the motor to stall (Servo-OFF).

2)Set up SV.Pr21 (Real time auto tuning set up) to 1-7.

Setup value	￿	Real time auto-gain tuning￿	Varying degree of load inertia in motion￿
0￿		(not in use)￿	–￿
[1]￿		￿	no change￿
2￿		normal mode￿	slow change￿
3￿		￿	rapid change￿
4￿		￿	no change￿
5￿		vertical axis mode￿	slow change￿
6￿		￿	rapid change￿
7		no gain switching mode	no change

When the changing degree of load inertia is large, set up 3 or 6.￿

When the motor is used for vertical axis, set up 4 to 6.￿

When vibration occurs during gain switching, set up 7.

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