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Real-Time Auto-Gain Tuning
Outline
The driver estimates the load inertia of the ma-
chine in real time, and automatically sets up the
optimum gain responding to the result. Also the
driver automatically suppress the vibration caused
by the resonance with an adaptive filter.
Applicable Range
• Real-time auto-gain tuning is applicable to all
control modes.
Caution
Real-time auto-gain tuning may not be executed
properly under the conditions described in the
right table. In these cases, use the normal mode
auto-gain tuning (refer to P.236 of Adjustment),
or execute a manual gain tuning. (refer to P.240,
of Adjustment)
Conditions which obstruct
real-time auto-gain tuning
• Load is too small or large compared to rotor inertia.
(less than 3 times or more than 20 times)
• Load inertia change too quickly. (10 [s] or less)
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
•
Motor is running continuously at low speed of 100 [r/min] or lower.
•
Acceleration/deceleration is slow (2000[r/min] per 1[s] or low).
• Acceleration/deceleration torque is smaller than
unbalanced weighted/viscous friction torque.
• When speed condition of 100[r/min] or more and
acceleration/deceleration condition of 2000[r/min] per
1[s] are not maintained for 50[ms].
Load
inertia
Load
Action
pattern
Action command under
actual condition
Position/Velocity
command
Position/Velocity
control
Servo driver
Real-time auto-gain tuning
Resonance frequency calculation
Load inertia calculation
Adaptive
Filter
Current
control
Auto-gain
setup
Auto-filter
adjustment
Torque
command
Motor
current
Motor
speed
Motor
Encoder
How to Operate
(1) Bring the motor to stall (Servo-OFF).
(2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 1-
7. Default is 1.
(3) Set up Pr22 (Machine stiffness at real-time auto-gain tun-
ing) to 0 or smaller value.
(4) Turn to Servo-ON to run the machine normally.
(5) Gradually increase Pr22 (Machine stiffness at real-time
auto-gain tuning) when you want to obtain better response.
Lower the value (0 to 3) when you experience abnormal
noise or oscillation.
(6) Write to EEPROM when you want to save the result.
0
<1>,4,7
2, 5
3, 6
Real-time auto-gain tuning
(not in use)
normal mode
Varying degree of load inertia in motion
–
no change
slow change
rapid change
• When the varying degree of load inertia is large, set up 3.
Setup
value
Setup of parameter, Pr21
Press .
Press .
Match to the parameter No.
to be set up with . (Here match to Pr21.)
Press .
Change the setup with .
Press .
Setup of parameter, Pr22
Match to Pr22 with .
Press .
Numeral increases with ,
and decreases with .
Press .
(default values)
Writing to EEPROM
Press .
Press .
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish
Writing completes Writing error
occurs
Return to SELECTION display after writing finishes, referring
to "Structure of each mode"(P.60 and 61 of Preparation).
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.