Two-Degree-Of-Freedom Control Mode Standard Type - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
Outline
In this auto-tuning mode, two-degree-of-freedom control is available in addition to real-
time auto tuning basic function.
The standard type is a mode that is suitable for positioning, and the 3rd gain switching
and viscous friction compensation are enabled.
The two-degree-of-freedom control mode, standard type, can be used by setting Pr6.47
Function expansion setup 2 to bit 0 = 1 and bit 3 = 0.
Applicable Range
Control Mode
Others
Caution
Real-time auto-gain tuning may not be executed properly under the conditions described
below.
Under these conditions, change the load conditions or operation patterns, or start manual
gain tuning (refer to P.5-27 and subsequent).
Load inertia
Load
Action
pattern
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2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Standard type
Real-time auto-tuning condition
Real-time auto-tuning, two-degree-of-freedom control mode, standard type,
can be applied for position control and speed control.
• Should be in servo-on condition.
• Input signals, such as deviation counter clear and command input inhibit,
and parameters, except for controls such as torque limit setup, are
correctly set, assuming that the motor can run smoothly.
Conditions which obstruct real-time auto-gain tuning
• Load is small or large compared with the rotor inertia (less than 3 times or
more than 20 times).
• The load inertia changes.
• The machine stiffness is extremely low.
• Nonlinear characteristics such as backlash exist.
• The motor is running continuously at low speed of 100 [r/min] or lower.
• Acceleration/deceleration is slow (2000 [r/min/1[s] or low).
• Acceleration/deceleration torque is smaller than unbalanced weighted/
viscous torque.
• When speed condition of 100 [r/min] or more and acceleration/decelera-
tion condition of 2000 [r/min]/1[s] are not maintained for 50 [ms].
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