No. SX-DSV02472 -
50-
5-1-1 Real-Time Auto Tuning
The system estimates the load characteristics in real time, and automatically performs basic gain setting and friction
compensation by referring to stiffness parameter.
1)
Applicable Range
This function operates under the following conditions.
Real-time auto-tuning condition
Control Mode
Specific real-time auto-tuning mode is selected according to the currently active control
mode. For details, refer to the description of Pr 0.02 Real time auto-tuning setup.
Others
• Should be in servo-on condition
• Parameters except for controls such as torque limit setup, are correctly set, assuring that
the motor can run smoothly.
2)
Caution
Real-time auto-gain tuning may not be executed properly under the conditions described below. If not properly
executed, change the loading condition or operating pattern, or manually set up the related parameters by
referring to the manual adjustment function description.
Conditions which obstruct real-time auto-gain tuning action
Load inertia
• The load inertia is too small or large compared to the rotor inertia. (less than 3 times or
more than 20 times).
• The load inertia changes too quickly.
• The machine stiffness is extremely low.
• Nonlinear characteristics such as backlash exist.
Action pattern
• The motor is running continuously at low speed of 100 [r/min] or lower.
• Acceleration/deceleration is slow (2,000 [r/min] per 1 [s] or low).
• When the speed condition of 100 [r/min] or more and acceleration/deceleration
condition of 2,000 [r/min] per 1 [s] are not maintained for 50 [ms].
• Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction
torque.
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation
