Panasonic MINAS E-series - Manual (Page 130)

130
Outline
Load inertia of the machine is real-time estimated, and the
optimum gain is automatically set based on the result of
estimation. In addition, an adaptive filter automatically
suppresses vibration due to resonance.
Scope
• Real time auto gain tuning is valid in all control modes.
• You can use an adaptive filter only when Pr02=2: high function positioning control.
Cautions
Under the following conditions, real time auto gain tuning may not properly function. In such cases, use either the
normal auto gain tuning (Refer to Page 132) or the manual gain tuning (Refer to Page 136).
Operating Instruction
(1) Stop the motor (Servo-OFF).
(2) Set Pr21 (Real time auto tuning set-up) to 1 to 6.
A default setup is 1.
When load inertia changes widely, set Pr21 to 3 or 6.
If there is possibly effect of resonance is possible, select “adaptive filter Yes”.
(3) Turn the servo on to operate the machine as usual.
(4) If you wish to improve responsiveness, gradually increase Pr22
(Machine stiffness at auto tuning). In addition, if any abnormal
noise or oscillation occurs, set a value lower (e.g. 0 to 3).
(5) If you wish to save the result, write it into EEPROM.
<Remarks>
Any change to Pr21 (Real time auto tuning set-up) will become
valid when you turn on the power and when Servo-OFF switches to
Servo-ON.
Thus, to disable real time auto tuning, set Pr21 (Real time auto
tuning mode setting) to 0, and then switch from Servo-OFF to
Servo-ON. Similarly, when you activate the real time auto tuning,
set Pr21 to any value other than 0 and 7, and switch from Servo-
OFF to Servo-ON.
Conditions that Hinder Real time Auto Gain Tuning from Functioning
When load inertia is smaller or greater than rotor inertia (i.e., 3 times or less or 20 times or more).
When load inertia changes quickly (less than 10 [s]).
When mechanical stiffness is extremely low. When there is play such as backlash.
When the motor runs at a continuous low speed below 100 [r/min].
When acceleration/deceleration is gradual, e.g., 2000 [r/min] or less in 1 [s].
When acceleration/deceleration torque is smaller than unbalanced load/viscous friction torque.
When the time that meets conditions of speed/acceleration is short, e.g., less than 40 [ms].
Load
Load Inertia
Operation
Pattern
Setting
value
0
[1]
2
3
4
5
6
7
Real time
Auto Tuning
Not used
Used
Not used
Degree of Load Inertia
Changes in Service
Little change
Gradual change
Sharp change
Little change
Gradual change
Sharp change
Adaptive Filter
(When Pr02=2)
No
Yes
No
Yes
Operation command under
actual service conditions
Position/speed
command
Automatic
gain setting Automatic
filter tuning
Adaptive
filter
Position/velocity
command
Torque
command
Current
control
Estimation of
resonance frequency
Estimation of load inertia
Real time auto gain tuning
Motor
current
Motor
Servo driver
Motor
speed
Encoder
Real time Auto Gain Tuning
Insert the connector of console into
CNX6 of the driver, and then turn on
the power of the driver.
Setting parameter Pr21
Press .
Press .
Select the parameter to be set with
and .
(In this case, select Pr21.)
Press .
Change the value with or .
Press .
SET
S
MODE
M
SET
S
SET
S
Setting parameter Pr22
Select Pr22 with .
Press .
When you press , a value increases,
and when you press , it decreases.
SET
S
(Default Setup Value)
Now writing into EEPROM
Press .
Press .
Keep pressing (about 5 seconds).
Then, the number of bars in creases
as shown on the right.
Start of write (indicated momentarily).
End
SET
S
MODE
M
Write finishes Write error occurs
After finishing write, return to Selection
Display referring to "Structure of Each
Mode" (Page 48 and 49).