Panasonic MINAS A5-series Operating Instructions Manual page 231

5
. Adjustment
1. Gain Adjustment
Outline ........................................................................................................5-2
2. Real-Time Auto-Gain Tuning
Basic ...........................................................................................................5-4
3. Adaptive filter
Adaptive filter ............................................................................................5-10
4. Manual Gain Tuning (Basic)
Outline ......................................................................................................5-13
Adjustment in Position Control Mode ........................................................5-14
Adjustment in Velocity Control Mode ........................................................5-15
Adjustment in Torque Control Mode .........................................................5-15
Adjustment in Full-Closed Control Mode ..................................................5-16
Gain Switching Function ...........................................................................5-17
Suppression of Machine Resonance ........................................................5-20
5. Manual Gain Tuning (Application)
Damping Control .......................................................................................5-24
Feed forward function ...............................................................................5-26
Instantaneous Speed Observer ................................................................ 5-2-
Disturbance observer ................................................................................5-30
3rd gain switching function .......................................................................5-32
Friction torque compensation ...................................................................5-34
Inertia ratio switching function ..................................................................5-36
Hybrid vibration damping function ............................................................5-38
6. About Homing Operation
Caution on Homing Operation ..................................................................5-39
Homing with Hit & Stop .............................................................................5-40
Press & Hold Control ................................................................................5-41
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