Panasonic MINAS A6 Multi Series Technical Reference page 110

5.2 Manual adjusting function
MINAS A6 Multi series features the automatic gain tuning function, however, there might be some
cases where this automatic gain tuning cannot be adjusted properly depending on the limitation on load
conditions. Or you might need to readjust the tuning to obtain the optimum response or stability
corresponding to each load.
Here we explain this manual gain tuning method by each control mode and function.
 5.2.1 Block diagram of position control mode
 5.2.2 Block diagram of velocity control mode
 5.2.3 Block diagram of torque control mode
 5.2.4 Block diagram of full-closed control mode
 5.2.5 Gain switching function
 5.2.6 Notch filter
 5.2.7 Damping control
 5.2.8 Model-type damping filter (Not supported)
 5.2.9 Feed forward function
 5.2.10 Load variation suppression function
 5.2.11 3rd gain switching function
 5.2.12 Friction torque compensation
 5.2.13 Hybrid vibration damping function
 5.2.14 Two-stage torque filter
 5.2.15 Quadrant projection suppression function
 5.2.16 Two-degree-of-freedom control mode (with position control)
 5.2.17 Two-degree-of-freedom control mode (with velocity control)
 5.2.18 Two-degree-of-freedom control mode (with full-closed control)
 5.2.19 Two-degree-of-freedom control mode (with torque control)
 5.2.20 High response current control
Auto Tuning Functions
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