Panasonic MINAS E-series - Manual (Page 129)

129
[Gain Adjustment]
Gain Adjustment
Procedures of Gain Adjustment
Start adjustment
Do you select
auto tuning?
Does it operate properly?
Can you enter
a command?
Yes
Yes
Yes
Do load
characteristics
fluctuate? No
No
No
No
Yes
No
Yes
Real time auto gain tuning
(Default setup)
Cancel the automatic
adjustment function
End of adjustment Consult with us
Normal auto gain tuning
Manual gain tuning
Does it operate properly?
Yes
No
Does it operate properly?
Write into EEPROM
Adaptive filter
Basic adjustment
Anti-vibration control
Gain switching
Suppression of
mechanical resonance
Release the automatic
adjustment function
P. 130
P. 132
P. 135
Release the automatic
adjustment function
P. 135 00
P. 135
P. 136
Relationship between Gain Adjustment and Mechanical Stiffness
• Vibration inherent in a mechanical system (i.e., resonance frequency) substantially affects the gain
adjustment of a servo. It is impossible to set high responsiveness for servo systems, for machine of low
resonance frequency (= low mechanical stiffness).
• Hence, in order to increase mechanical stiffness, check that:
(1) the machine has been installed on solid grounding and assembled fimly.
(2) the coupling in use is highly stiff and designed for a servo.
(3) a wide timing belt is used, and that tensile force has been set within the range of allowable axial load of the
motor.
(4) a gear with less backlash is used.
The following flow chart illustrates the entire process of the gain adjustment: