Load Variation Suppression Function - Panasonic MINAS A6 Series Operating Instructions Manual

5
Adjustment
Outline
This function uses the disturbance torque determined by the disturbance observer to re-
duce effect of disturbance torque and vibration.
To cope with the real-time auto-tuning is useful when there is a change of load.
Velocity control
output
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Control mode • Should be either position control, velocity control, or full-closed control.
Others
Caution
Effect may not be expected in the following condition.
Load
Related page
• P.4-6 to P.4-85... "Details of parameter"
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5-50
5. Manual Gain Tuning (Application)

Load variation suppression function

Load fluctuation supported function
Torque Disturbance
estimation
compensation compensation
F1 6.74 K 6.23 T2
F2 6.75 T１ 6.24 N
Conditions under which the disturbance observer is activated
• Should be in servo-on condition
• Elements other than control parameters, such as deviation counter clear
command inhibit and torque limit, are appropriately set, enabling the
motor to run normally.
• Real-time automatic tuning is invalid. （Pr0.02=0）
Conditions which obstruct disturbance observer action
• The rigidity is low (the anti-resonance point is at low frequency range of
10 Hz or below).
• The load shows a clear non-linear trend with friction and backlash..
Disturbance
torque
Load
－
Torque
＋
command
6.73
6.76
Load
variation
Motor speed
Motor
+ load