Panasonic MINAS A4P Series User Manual download pdf (Page 143)

143

[Adjustment]

Adjustment

• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the main

power, or turn to Servo-OFF.

Real-time auto-gain tuning



Adaptive filter



Normal mode auto-gain tuning



Release of automatic gain 

adjusting function



Manual gain tuning (basic)



Basic procedure



Gain switching function



Suppression of machine



resonance 



Manual gain tuning (application)



Instantaneous speed observer



Damping control

P.144



P.147



P.148



P.151



P.152



P.153



P.154



P.155



P.158



P.160



P.160



P.161

Estimates the load inertia of the machine in real time, and auto-

matically sets up the optimum gain corresponding to this result.

Reduces the resonance vibration point by automatically setting

up the notch filter coefficient which removes the resonance

component from the torque command while estimating the res-

onance frequency from the vibrating component which appears

n the motor speed in actual operating condition.

Sets up the appropriate gain automatically by calculating the

load inertia from the torque required to run the motor in the

command pattern automatically created in the driver.

Describes the cautions when you invalidate the real-time auto-

gain tuning or adaptive filter which are defaults.

Execute the manual adjustment when real-time auto-gain tun-

ing cannot be executed due to the limitation of control mode

and load condition, or when you want to obtain an optimum re-

sponse depending on each load.

Adjustment of position control mode

Adjustment of full-closed control mode

You can expect to reduce vibration at stopping and settling

time and to improve command compliance by switching the

gains by internal data or external signals.

When the machine stiffness is low, vibration or noise may be gen-

erated due to the distorted axis, hence you cannot set the higher

gain. You can suppress the resonance with two kinds of filter.

You can obtain the higher performance while you are not satis-

fied with the performance obtained with the basic adjustment,

using the following application functions.

Function which obtains both high response and reduction of vi-

bration at stopping by estimating the motor speed with the load

model, and hence improves the accuracy of speed detection.

Function which reduces vibration by removing the vibration fre-

quency component while the front end of the machine vibrates.

Function Explanation

Pages



to 

refer

Automatic adjustment

Manual adjustment

Type

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Panasonic MINAS A4P Series User Manual Page 143

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