EA180 Series Servo Drive Users Manual 6.5 Real-time auto gain adjustment 6.5.1 Overview The drive detects the load inertia of the device in real time during operation and automatically adjusts the basic gain value according to the result and the set rigidity value. There are 3 options for different load characteristics 6.5.2 Scope of application Real-time automatic gain adjustment is applicable to position control mode and speed control mode. 6.5.3 Operating method 1) Servo enable OFF 2) Set P4-00 to 2-4; factory default is 1. 3) Set P4-01 to a low value 4) Properly set the settings such as clearing the position deviation count, prohibiting command input, torque limit, etc.
to enable the motor to rotate normally without obstacles. 5) Enable the servo (ON) and make the device operate as normal. 6) The drive begins to detect the inertia characteristics of the load. 7) Improve the responsiveness of the motor by increasing the set value of P4-01 (rigidity). 8) Please observe the positioning time or vibration state and adjust them to an appropriate value. 6.5.4 Precautions Under the following conditions, real-time automatic gain adjustment may not be used normally.
Please change the load conditions or use semi-automatic gain adjustment/manual gain adjustment (P4-00=1, 0) After the servo is enabled ON for the first time after power-on, or when the P4-01 rigidity value is increased, abnormal sounds or oscillations may occur before the load characteristic detection is stable. If it can become stable immediately, it is normal. If there is continuous oscillation or repeated action for more than 3 times, and there are still abnormal sounds, please take the following measures: Lower the setting value of P4-01.
Set P4-00 to 1 or 0 to invalidate real-time automatic adjustment After abnormal sound or oscillation occurs, sometimes P4-10 (inertia ratio) will have an extreme value. At this time, please set P4-10 as the inertia ratio calculated by yourself. In the result of the automatic gain adjustment, the P4-10 is written to the EEPROM every 30 minutes. When the power is turned on again, this data is used as the initial value for automatic adjustment. The gain is updated when the motor is stopped, and even if the value of P4-01 (rigidity) is modified, it will not take effect if the motor is not stopped. The following functions are not valid when using real-time automatic gain adjustment:
Acceleration feedback Disturbance observer Speed observer Torque feedforward Gain switching Offline inertia identification 61 Set value Real-time auto adjustment 2 Applicable to occasions with a slow change rate of load inertia (tens of seconds) 3 Applicable to occasions with a medium change rate of load inertia (seconds) 4 Applicable to occasions with a rapid change rate of load inertia (hundreds of milliseconds) Conditions affecting real-time automatic gain adjustment Load inertia When the total load inertia is less than 2 times or more than 20 times the motor rotor inertia Load When the mechanical rigidity is extremely low When there are nonlinear characteristics such as back lash Motion model When the speed is less than 100rpm and the device runs at a continuous low speed When the acceleration/deceleration is below 2000rpm/s When the acc/dec torque is less than the eccentric load and viscous friction torque When the speed is above 100rpm and the acceleration/deceleration is above 2000rpm/s, and the duration is not more than 50ms