Panasonic MINAS A6 Multi Series Technical Reference page 140

5.2.15 Quadrant projection suppression function
Control configuration can be switched to suppress quadrant projection occurring during arc interpolation
of 2 or more axes. To be used in conjunction with load fluctuation suppression function.
Applicable range
This function is unable to be applied unless the following conditions are satisfied.
Conditions in which quadrant projection suppression function is triggered:
 Position control mode or Full-closed control mode.
Control Mode
 To be in Servo-On state.
Others
 Elements other than control parameters, such as prohibition of deviation counter clear command input and torque
limit, etc. are set appropriately, in a state where there are no obstructions in normal motor revolutions.
Cautions
There are cases where effects cannot be observed under the following conditions.
Conditions where the effects of quadrant projection suppression function is disrupted:
 When rigidity is low (anti-resonance point exists in the low frequency range of 10 Hz or lower)
Load
 When non-linearity of load is strong from existence of backlash, etc.
 When action patterns are changed.
Relevant parameters
 Relevant parameters
Class No. Attribute Title
5 45 B
5 46 B
5 47 B
5 48 B
5 49 B
6 47 R
6 97 B
Range
Quadrant glitch -1000 to 1000
positive-direction
compensation
value
Quadrant glitch 1000 to
negative-direction
1000
compensation
value
Quadrant glitch 0 to 1000
compensation
delay time
Quadrant glitch 0 to 6400
compensation filter
setting L
Quadrant glitch 0 to 10000
compensation filter
setting H
Function -32768 to
expansion setup 2 32767
Function -2147483648
expansion setup 3 to 2147483647
Unit Function
0.1% Sets amount of compensation to be added to torque
command when the position command is in positive
direction and quadrant projection compensation function is
enabled.
0.1% Sets amount of compensation to be added to torque
command when the position command is in negative
direction and quadrant projection compensation function is
enabled.
ms Sets the length of delay time for switching of amount of
compensation after position command has been reversed,
when quadrant projection compensation function is
enabled.
0.01 ms Sets time constant for low-pass filter on the amount of
compensation on torque command when quadrant
projection compensation function is enabled.
0.1 ms Sets time constant for high-pass filter on the amount of
compensation on torque command when quadrant
projection compensation function is enabled.
– bit14:Enables/disables quadrant projection compensation
function.
0: disabled
1: enabled
–
bit0: Enables/disables quadrant projection compensation
function extended.
0: disabled
1: enabled
To set the compensation amount of quadrant projection by
inversion direction when the direction of the velocity has
changed, set Pr6.97 bit0 to 1.
Auto Tuning Functions
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