Panasonic MINAS A6 Multi Series Technical Reference page 142

5.2.16 Two-degree-of-freedom control mode (with position control)
The two-degree-of-freedom control mode is an expanded function of the position control switching
mode. Responsiveness is improved by making it possible to set the positional command response and
servo stiffness independently.
Either of the standard type or synchronization type of the two-degree-of-freedom control can be used.
Applicable range
This function cannot be applied unless the following conditions are satisfied.
Operating conditions for the two-degree-of-freedom control mode:
 Position control mode (semi-close control)
Control Mode
 The servo is ON.
Others
 Elements other than control parameters such as torque limit are set properly, and there is no obstacle to normal motor
operation.
Relevant parameters
First, set Pr6.47 "Function expansion setup 2" to bit0=1 and write the setting to EEPROM, and then
reset the control power to enable two-degree-of-freedom control.
After this, make adjustments of the Real-time auto tuning function.
Refer to Section "5.1.35.1.3Real-time auto tuning (Two-degree-of-freedom control mode standard type)
" or "5.1.4 Real-time auto tuning (Two-degree-of-freedom control mode synchronization type)"
Only when further improvement is required, manually fine-tune the following parameters while
confirming the response.
 Relevant parameters
Class No. Attribute Title
6 47 R
2 22 B
(To be continued)
Range
Function -32768 to
expansion setup 2 32767
Command 0 to
smoothing filter 10000
Unit Function
- Set respective functions in unit of bit.
bit0: two-degree-of-freedom control mode
0: Invalid
1: Valid
bit3: Selection of real-time auto-tuning of two-degree-of-freedom
control
0: Standard type
1: Synchronization type
* The least significant bit is bit0.
* bit3 (Selection of real-time auto-tuning of
two-degree-of-freedom control) can be used only when bit0 is
set to 1: Valid.
0.1 ms Time constant for the command filter is set in
two-degree-of-freedom control.
 The maximum value is limited to 2000 (=200.0 ms).
*The parameter value itself is not limited, but the value applied
in the driver is limited.
 Command response can be quickened by decreasing this
parameter and slowed by increasing it.
 The attenuation term is set by Pr6.49 "Adjust/Torque command
attenuation term".
Auto Tuning Functions
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