Panasonic MINAS A6 Series - 1 Gain Adjustment; Outline

5-2
5
1. Gain Adjustment
Adjustment
Outline
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 op-
timum performance of the machine.
<e.g. : Ball screw>
Procedures
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
37
250125
[r/min]
Command Speed
Motor actual speed
Gain setup : Low Gain setup : High
Gain setup : High + feed forward setup
No
Start adjustment
Adjust by
using fit gain
function?
Yes
Yes
Fit gain function *
No
* Fit gain function is a function of the setup
support software, “PANATERM”.
Please use the software and the manual
by download from our web site.
Automatic
adjustment ?
Ready for
command
input ?
Yes
Yes
No
No
Real time
auto-gain tuning
Action O.K.?
Action O.K.?
Yes
No
Release of
auto-adjusting
function
Finish adjustment
Operation by using
the trial run function
Yes
No
Action O.K.?
Release of
auto-adjusting
function
Manual gain tuning
Consult to authorized dealer
Writing to EEPROM
Note
For safety operation, rst adjust the gain by referring to P.6-29 Setup of gain pre-adjustment
protection.
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com