Panasonic MADHT1105, Operating Instructions Manual

Page: 233 / 394

5-3
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
Remarks
• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs,
shut off the main power, or turn to Servo-OFF.
Type
Function Explanation
Pages
to refer
Automatic
adjustment
Real-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.5-4
Adaptive filter
Reduces the resonance vibration point by automatically setting up
the notch filter coefficient which removes the resonance compo -
nent from the torque command while estimating the resonance
frequency from the vibrating component which appears in the mo -
tor speed in actual operating condition.
P.5-10
Manual adjustment
Manual gain tuning (basic)
Execute the manual adjustment or fine-tuning when real-time
auto-gain tuning cannot be activated due to the limitation of opera -
tion or load condition, or when you want to obtain an optimum
response and stability under these conditions.
P.5-13
Basic procedure
Adjustment of position control mode P.5-14
Adjustment of velocity control mode P.5-15
Adjustment of torque control mode P.5-15
Adjustment of full-closed control mode P.5-16
Gain switching function
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.
P.5-17
Suppression of machine
resonance
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.
P.5-20
Manual gain tuning
(application)
You can obtain the higher performance while you are not satisfied
with the performance obtained with the basic adjustment, using
the 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.5-24
Feed forward function
Velocity feed forward function improves responsiveness during
position control and full closed control. Torque feed forward
improves the response of velocity control system.
P.5-26
Instantaneous speed
observer
Function which obtains both high response and reduction of
vibration at stopping by estimating the motor speed with the load
model, and hence improves the accuracy of speed detection.
P.5-28
Disturbance observer
Function which uses estimated disturbance torque to reduce
effects of the disturbance torque and to reduce vibration.
P.5-30
3rd gain switching
function
By using this function in addition to the normal gain switching
function, the gain can be changed at the moment of stop to further
shorten the positioning time.
P.5-32
Friction torque
compensation
Offset load compensation and dynamic friction compensation are
used to reduce effects of mechanical friction.
P.5-34
Inertia ratio switching
function
This function can be used when selectable 2 inertia ratios are
provided.
P.5-36
Hybrid vibration damping
function
This function, when used in full closed control mode, prevents
vibration resulting from torsion on motor and load.
P.5-38
1. Gain Adjustment
Outline