Panasonic MDDDT3530P Benutzerhandbuch

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The  auto  gain  tuning  affects  the  values  of  the  following  six  parameters.

•  

Pr15 (Velocity Feed Forward) will be automatically changed to 0%, if the auto gain tuning is

executed.

  < N o t e s >

The real time auto gain tuning will be disabled in the following cases:

1) Running pattern at a constant speed

2) Running pattern with a small acceleration/deceleration

Relationship  between  Gain  Adjustment  and  Mechanical  Stiffness

To increase the mechanical stiffness,

1) The machine (motor load) should be firmly secured to a rigid foundation.

2) The coupling between the motor and machine should be a high-stiffness special         one designed

for servo motors.

3) The timing belt should have a larger width. The tension of the timing belt should be    adjusted

according to the allowable axial load of the motor.

4) The gears should have a smaller backlash characteristic.

 •  The inherent frequency (resonance) of the machine significantly affects the gain adjustment of the

servo motor. If the machine has a lower resonance frequency (i.e. lower stiffness), you can't set

the high response of the servo system.

Preparations 

and 

Adjustments

Applicability  of  Automatic  Adjustment

P r 1 0

1st  Position  Loop  Gain

P r 1 3

1st  Speed  Detection  Filter

P r 1 1

1st  Velocity  Loop  Gain

P r 1 4

1st  Torque  Filter  Time  Constant

P r 1 2

1st  Velocity  Loop  Integration  Time  Constant

P r 2 0

Inertia  Ratio

I t e m

C o n d i t i o n s

• Must be at least three times as large as the motor inertia, but not greater than 20 times.

• Must not fluctuate much

• The machine (motor load) and its coupling must have a higher mechanical stiffness.

• The backlash of the gears and other equipment must be small.

• Eccentric load must be smaller than one-fourth of the rated torque.

• The viscous load torque must be smaller than one-fourth of the rated torque.

• Any oscillation must not cause any mechanical damages of the machine (motor load).

• Two CCW turns and subsequent two CW turns must in no case cause any troubles.

Load  inertia

L o a d