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

5
Adjustment
Outline
The two degree-of-freedom control mode is an extended function of full-close control
mode to improve the responsiveness by making it possible to independently set the com-
mand response and servo rigidity.
Applicable Range
This function can be applicable only when the following condition are satisfied.
Control Mode •Full-close control
Others
Related Parameter
First of all, with Pr6.47 write "Function expansion setting 2" = 1 into EEPROM, and then,
make the two degree-of-freedom control mode enabled by resetting the control power
supply.
Thereafter, adjust by the real-time auto-tuning (refer to 5-1-3). Only when further im-
provement is required, finely adjust the following parameters manually while checking the
responses.
Class No.
6 47
2 22
6 48
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5. Manual Gain Tuning (Application)

Two-degree-of-freedom control mode (full-close control)

the Two-degree-of-freedom control mode is activated.
• Should be servo-on condition.
• Elements other than control parameters, such as torque limit, etc. are
properly set and the motor is free of obstacle to normal motor rotation.
Title
Set up various functions bit by bit.
bit 0 Two-degree-of-freedom control mode
0: Invalid
Function
bit 3 Two degree-of-freedom control real-time auto-tuning select
expansion
0: Standard type
settings 2
* The least significant bit is represented by bit0.
*bit 3 (two-degree-of-freedom control real-time auto-tuning
chosen) becomes enabled only when bit 0 is set to 1: Enabled.
While the two-degree-of-freedom control real-time auto-tuning
is selected, time constant of command filter is applied with the
First order
maximum value limited to 640 (= 64.0 ms).
filter time
(The value of the parameter is not limited but the value to be
constant for
applied to driver is limited.)
command
Decreasing the value of this parameter makes command
response fast and large, resulting smooth command response.
Sets time constant of adjustment filter.
When the torque filter setting is changed, set the parameter to a
value close to real-time auto-tuning setting.
Adjust filter
Fine adjustment by checking positional deviation of the
encoder near setting point may improve overshoot or oscillatory
waveform.
Conditions under which
Function
1: Valid
1: Synchronous type
1
2
3
4
5
6
7
5-65