Panasonic MINAS A6 Multi Series Technical Reference page 132

5.2.10 Load variation suppression function
This function uses the disturbance torque determined by the disturbance observer to reduce effect of
disturbance torque and vibration.
This is effective when Real-time auto tuning cannot handle load variation sufficiently.
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the disturbance observer is activated:
 Position control, Velocity control or Full-closed control
Control Model
 Should be in servo-on condition
Others
 Parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run smoothly.
Caution
Effect may not be expected in the following condition.
Conditions which obstruct disturbance observer action:
 The rigidity is low (the anti-resonance point is at low frequency range of 10 Hz or below)
Load
 The load shows a clear non-linear trend with friction and backlash.
Relevant parameters
 Relevant parameters
Class No. Attribute
6 10 B
6 23 B
6 24 B
6 73 B
(To be continued)
Title Range
Function -32768 to
expansion setup 32767
Load change -100 to
compensation 100
gain
Load change 10 to
compensation 2500
filter
Load estimation 0 to 2500
filter
Unit Function
- Enables or disables the load variation suppression function.
bit1:
0: Disables the load variation suppression function
1: Enables the load variation suppression function
bit2:
0: Disables the load variation stabilization setting
1: Enables the load variation stabilization setting
bit14: 0: Disables the load variation suppression function
automatic adjustment
1: Enables the load variation suppression function
automatic adjustment
* The least significant bit is bit0.
* When bit14 to 1, it will be bit1 and 2 also 1.
% Defines the compensation gain against load variation.
0.01 ms Defines the filter time constant against load variation.
0.01 ms Defines the filter time constant for load estimation.
Auto Tuning Functions
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