Panasonic A4P Series Power Supply User Manual


 
143
[Adjustment]
Adjustment
<Remarks>
• 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