Two-Degree-Of-Freedom Control Mode (Position Control) - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
Outline
In the two-degree-of-freedom control mode, command response and servo rigidity can
be independently set with improved responsiveness. This mode has enhanced position
control functions.
Applicable Range
This function can be applicable only when the following condition are satisfied.
Control Mode Position control
Others
Related Parameter
First, set Pr6.47 Function expansion setup 2 to 1 and write the setting to EEPROM. Re-
set the control power supply to enable the two-degree-of-freedom control mode. Adjust
the gain by using the real-time auto-tuning (refer to P.5-10). If further improvement is nec-
essary, manually fine tune the following parameters while checking the response.
Class No.
6
2
Related page
• P.4-6 to P.4-85... "Details of parameter"
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
5-62
5. Manual Gain Tuning (Application)
Two-degree-of-freedom control mode (Position control mode)
the Two-degree-of-freedom control mode is activated.
• Should be servo-on condition.
• Factors other than control parameters such as torque limit should be
properly setup, allowing motor to operate normally.
Title
Set up various functions bit by bit.
bit 0 Two-degree-of-freedom control mode
bit 3 Two-degree-of-freedom control real-time auto-tuning
Function
select
47 expansion
settings 2
* The least significant bit is represented by bit0.
* For bit3 (two-degree-of-freedom control real time auto
While the two-degree-of-freedom control real-time auto-
tuning is selected, time constant of command filter is applied
with the maximum value limited to 2000 (= 200.0 ms).
(The value of the parameter is not limited but the value to be
First order filter
22 time constant applied to driver is limited. Set attenuation term in Pr6.49 [Set
for command
attenuation term of command filter/adjustment filter].)
Decreasing the value of this parameter makes command
response fast and large, resulting smooth command
response.
Conditions under which
0: Invalid 1: Valid
0: Standard type 1: Synchronous type
tuning select): this is made usable when bit0 is at 1 (valid).
Function
(continued)