Panasonic Minas A4 Series - Fit-Gain Function

231
[Adjustment]
Adjustment
Fit-Gain function
Outline
MINAS-A4 series features the Fit-gain func-
tion which executes the automatic setup of
stiffness corresponding to the machine
while the real time auto-gain tuning is used
at position control. This function automati-
cally searches the optimum stiffness setup
by repeating reciprocating movement at
position control.
Real time auto-gain 
tuning action
Adaptive filter
Control mode
Action pattern
Conditions under which the Fit-gain function is activated
• The real-time auto-gain tuning has to work properly.
• At Servo-ON status
• Pr21=1-6 (Not usable when Pr21=0 or 7)
• The adaptive filter is validated.
• Pr23=1 : Validated
• At position control mode
Pr02=0 : Position control
Pr02=3 : 1st control mode of position/velocity control
Pr02=4 : 1st control mode of position/torque control
• The position command to be for reciprocating movement
• One position command time to be 50 [ms] or longer.
• Min. frequency of position command to be 1 [kpps] or 
more.
(To be used for judgment of start and finish of command)

Action pattern
Conditions which obstruct Fit-Gain action
• The position command is small such as less than 2 revolutions.
• When the positioning cannot be completed before the start of the next position command even
though the positioning command has been completed.
• Acceleration/deceleration is rapid such as 30000 [r/min] per 1[s].
Command 
waveform
Positioning 
complete
Accel/deceleration
<(3000r/min/0.1s)
50 [ms] or longer
1[s] or longer
1 [s] or longer
OFF
ON
Position/
Velocity
control
Position command
Motor
speed
Torque 
command
Adaptive
Filter
Motor
current
Motor
Encoder
Servo driver
+
Position 
deviation
Fit-gain function
(Reciprocating 
command with
trapezoidal 
waveform)
Current
control
Detection 
of 
vibration
Real time 
auto-gain tuning
Automatic setup of
stiffness and gain
table
(Settling 
time)
Load inertia estimation
Resonance frequency 
estimation
Applicable Range
This function can be applicable when the following conditions are satisfied in addition to the applicable
conditions for real time auto-gain tuning.
Caution
This function may not work properly under the following conditions in addition to the conditions for real time
auto-gain tuning. In these cases, use the normal real-time auto-gain tuning.