Panasonic MINAS A5-series Operating Instructions Manual
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Contents
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5-31 Before Using the Products2 Preparation3 Connection4 Setup5 Adjustment6 When in Trouble7 SupplementRemarks • Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs,shut off the main power, or turn to Servo-OFF.TypeFunction Explanation Pagesto referAutomaticadjustmentReal-time auto-gain tuning Estimates the load inertia of the machine in real time, and auto-matically sets up the optimum gain corresponding to this result. P.5-4Adaptive filterReduces the resonance vibration point by automatically setting upthe notch filter coefficient which removes the resonance compo-nent from the torque command while estimating the resonancefrequency from the vibrating component which appears in the mo-tor speed in actual operating condition.P.5-10Manual adjustmentManual gain tuning (basic)Execute the manual adjustment or fine-tuning when real-timeauto-gain tuning cannot be activated due to the limitation of opera-tion or load condition, or when you want to obtain an optimumresponse and stability under these conditions.P.5-13Basic procedureAdjustment of position control mode P.5-14Adjustment of velocity control mode P.5-15Adjustment of torque control mode P.5-15Adjustment of full-closed control mode P.5-16Gain switching functionYou can expect to reduce vibration at stopping and settling timeand to improve command compliance by switching the gains byinternal data or external signals.P.5-17Suppression of machineresonanceWhen the machine stiffness is low, vibration or noise may be gen-erated due to the distorted axis, hence you cannot set the highergain. You can suppress the resonance with two kinds of filter.P.5-20Manual gain tuning(application)You can obtain the higher performance while you are not satisfiedwith the performance obtained with the basic adjustment, usingthe following application functions.Damping control Function which reduces vibration by removing the vibration fre-quency component while the front end of the machine vibrates. P.5-24Feed forward functionVelocity feed forward function improves responsiveness duringposition control and full closed control. Torque feed forwardimproves the response of velocity control system.P.5-26Instantaneous speedobserverFunction which obtains both high response and reduction ofvibration at stopping by estimating the motor speed with the loadmodel, and hence improves the accuracy of speed detection.P.5-28Disturbance observer Function which uses estimated disturbance torque to reduceeffects of the disturbance torque and to reduce vibration. P.5-303rd gain switchingfunctionBy using this function in addition to the normal gain switchingfunction, the gain can be changed at the moment of stop to furthershorten the positioning time.P.5-32Friction torquecompensationOffset load compensation and dynamic friction compensation areused to reduce effects of mechanical friction. P.5-34Inertia ratio switchingfunctionThis function can be used when selectable 2 inertia ratios areprovided. P.5-36Hybrid vibration dampingfunctionThis function, when used in full closed control mode, preventsvibration resulting from torsion on motor and load. P.5-381. Gain AdjustmentOutline |
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