144OutlineEstimates the load inertia of themachine in real time and setsup the optimum gain automati-cally responding to the result.Also, an adaptive filter cancope with any load caused bythe resonance.Applicable RangeCautionReal-time auto-gain tuning may not be executed properly under the conditions described in the table below.In these cases, use the normal mode auto-gain tuning (refer to P.148), or execute the manual auto-gaintuning (refer to P.152).Real-Time Auto-Gain Tuning ModeAction command under actual conditionPosition/Velocity command Position/Velocity controlServo driverReal time auto-gain tuningResonance frequency estimationLoad inertia estimationAdaptive Filtercurrent controlGain auto-setup Filter auto-adjustment Torque commandMotor currentMotor speedMotorEncoderConditions which obstruct real-time auto-gain tuning action• The load 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 (10 [s] or less) • The machine stiffness is extremely low. • A chattering such as backlash exists. • The motor is running continuously at low speed of (100 [r/min] or lower. • Acceleration/deceleration is slow (2000 [r/min] per 1[s] or low). • Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque. • When the speed condition of 100 [r/min] or more and acceleration/deceleration condition of 2000 [r/min] per 1 [s] are not maintained for 80 [ms].LoadLoad inertiaAction patternSetup value 0 [1] 2 3 4 5 6 7Real time auto-gain tuning (not in use) normal mode vertical axis mode no gain switching modeVarying degree of load inertia in motion – no change slow change rapid change no change slow change rapid change no changeWhen the changing degree of load inertia is large, set up 3 or 6. When the motor is used for vertical axis, set up 4 to 6. When vibration occurs during gain switching, set up 7.Conditions under which the real-time auto-gain tuning is activatedControl mode Others• Real time auto-gain tuning is applicable to all control modes. However, the load inertia estimation will be disabled when a motor trial operation functionis executed and a frequency characteristics measurement function of “PANATERM ®” isused. • The servo turns on. • Any factors, including Deviation Counter Clear command input inhibition and torque limit,other than control parameter are set appropriately and the motor can rotate normallywithout any problem.How to Operate1) Bring the motor to stall (Servo-OFF).2) Set up SV.Pr21 (Real time auto tuning set up) to 1-7.
