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[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.