Panasonic MINAS A6 Series Operating Instructions Manual page 295

1. Gain Adjustment
Outline
Type
Function
Real-time auto-gain tuning
Two-degree-of-freedom
control mode
Adaptive filter
Manual gain tuning (basic)
Basic procedure
Gain switching function
Suppression of ma-
chine resonance
Manual gain tuning
(application)
Damping control
Feed forward function
Load variation
suppression function
3rd gain switching
function
Friction torque
compensation
Inertia ratio switching
function
Hybrid vibration
damping function
Qudrant projecttion
suppression function
Two-degree-of-freedom
control mode
Two-stage torque filter
• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs,
Remarks
shut off the main power, or turn to Servo-OFF.
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Estimates the load inertia of the machine in real time, and automatically sets up
the optimum gain corresponding to this result.
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 and speed control functions.
Reduces the resonance vibration point by automatically setting up the notch
filter coefficient which removes the resonance component from the torque com-
mand while estimating the resonance frequency from the vibrating component
which appears in the motor speed in actual operating condition.
Execute the manual adjustment or fine-tuning when real-time auto-gain tuning
cannot be activated due to the limitation of operation or load condition, or when
you want to obtain an optimum response and stability under these conditions.
Adjustment in position control mode
Adjustment in velocity control mode
Adjustment in torque control mode
Adjustment in full-closed control mode
You can expect to reduce vibration at stopping and settling time and to improve
command compliance by switching the gains by internal data or external sig-
nals.
When the machine stiffness is low, vibration or noise may be generated due to
the distorted axis, hence you cannot set the higher gain. You can suppress the
resonance with two kinds of filter.
You can obtain the higher performance while you are not satisfied with the
performance obtained with the basic adjustment, using the following application
functions.
Damping control
Model-type damping filter
Velocity feed forward function improves responsiveness during position control
and full closed control. Torque feed forward improves the response of velocity
control system.
Function which obtains both reducing motor speed variation and improving
stability by changing estimated disturbance torque and load
By using this function in addition to the normal gain switching function, the gain
can be changed at the moment of stop to further shorten the positioning time.
Offset load compensation and dynamic friction compensation are used to
reduce effects of mechanical friction.
This function can be used when selectable 2 inertia ratios are provided.
This function, when used in full closed control mode, prevents vibration
resulting from torsion on motor and load.
Control configuration can be switched to suppress quadrant projection
occurring during arc interpolation of 2 or more axes.
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 and speed control functions.
In addition to 1st and 2nd torque filters (Pr1.04 and Pr1.09), another torque
filter can be set.
Explanation
fluctuation
1
Pages
to refer
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