Panasonic A4P Series instruction manual Normal Mode Auto-Gain Tuning

Normal Mode Auto-Gain Tuning

Outline

The motor will be driven per the command with a pat- tern generated by the driver automatically. The driver estimates the load inertia from the necessary torque, and sets up an appropriate gain automatically.

Applicable Range

This function works under the following condition.

Position command	Normal mode￿		Position command
	auto-gain tuning
	Load inertia ￿
	calculation			Motor￿
	Gain ￿
		Torque ￿		current
	auto-￿
Generation ￿	adjust	command
	Position/Velocity ￿		Current￿	Motor￿
of ￿
			control
internal ￿	Control			￿
positional ￿
command	Motor torque			Motor￿
				speed
	Servo driver			Encoder

	Conditions under which the normal mode auto-gain tuning is activated
Control mode￿	Applies to all control modes.￿
Others	• Servo-ON status

<Remarks>

Set up the torque limit selection (SV.Pr03) to 1.

When you set up other than 1, driver may not act correctly.

Caution

Normal mode auto-gain tuning may not be work properly under the following conditions. In these cases, set up in manual gain tuning

	Conditions which obstruct normal auto-gain tuning
￿	• Too small or too big compared to the rotor inertia￿
Load inertia￿	(smaller than 3 times or larger than 20 times)￿
￿	• Load inertia varies.￿
￿	• Machine stiffness is extremely low.￿
Load

•Chattering such as backlash exists.

•Tuning error will be triggered when an error, Servo-OFF, the main power shutdown, validation of over- travel inhibition, or deviation counter clear occurs during the normal mode auto-gain tuning.

•If the load inertia cannot be calculated even though the normal mode auto-gain tuning is executed, gain value will not change and be kept as same as that of before the execution.

•The motor output torque during the normal auto-gain tuning is permitted to the max. torque set with SV.Pr5E (Setup of torque limit).

•Please note that each signal of the CW over-travel inhibit input, CCW over-travel inhibit input, emergency stop, deceleration-and-stop and temporary stop is ignored.

Pay an extra attention to the safety. When oscillation occurs, shut off the main power or turn to Servo- OFF immediately. Bring back the gain to default with parameter setup. Refer to cautions of P.95, "Auto-Gain Tuning Mode" of Setting as well.

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