Panasonic Minas A4 Series - Real-Time Auto-Gain Tuning

226
Position loop gain : 20
Velocity loop gain : 100
Time constant of
V-loop integration

: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration

: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100

Velocity loop gain : 50

Time constant of
V-loop integration

: 50

Velocity loop feed forward : 500

Inertia ratio : 100
+2000
- 2000
0
0.0 375250125 0.0 375250125 0.0 375250125
[r/min]
Command Speed
Motor actual speed
Gain setup : Low Gain setup : High Gain setup : High + feed forward setup
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>
Procedures
Start adjustment
Automatic
adjustment ?
Ready for
command
input ?
Auto-adjustment
of stiffness ?
Action O.K.?
Action O.K.?
Yes
Yes
Action O.K.?
Real time
auto-gain tuning
(Default)
Normal mode
auto-gain tuning
Release of
auto-adjusting
function
Fit-gain function
Release of
auto-adjusting
function
Manual gain tuning
Gain automatic
setup function
Finish adjustment
Writing to EEPROM
Consult to authorized dealer
(see P.228)
(see P.231)
(see P.239)
(see P.236)
(see P.248)
(see P.239)
(see P.240)
Use the
gain setup of auto-
adjustment ?
No
No
Yes
No
No
Yes
No
No
Yes
Yes
No
Yes
Gain Adjustment