Adjustment - Panasonic MINAS A6N Series Operating Instructions Manual

Rev.2.00
5

. Adjustment

1. Gain Adjustment
Outline .......................................................................................................5-2
2. Real-Time Auto-Gain Tuning
Basic ..........................................................................................................5-4
Two-degree-of-freedom Control Mode Standard Type ............................5-10
Two-degree-of-freedom Control Mode Synchronous Type ....................5-19
3. Adaptive Filter
......................................................................................5-28
4. Manual Gain Tuning (Basic)
Outline .....................................................................................................5-31
Adjustment in Position Control Mode .......................................................5-32
Adjustment in Velocity Control Mode .........................................................5-35
Adjustment in Torque Control Mode .........................................................5-35
Gain Switching Function ...........................................................................5-36
Suppression of Machine Resonance ........................................................5-39
5. Manual Gain Tuning (Application)
Damping Control ......................................................................................5-43
Model-type Damping Filter .......................................................................5-45
Feed Forward Function .............................................................................5-49
Load Variation Suppression Function ........................................................5-51
3rd Gain Switching Function ....................................................................5-54
Friction Torque Compensation ................................................................5-56
Quadrant Projection Suppression Function ...............................................5-58
Two-degree-of-freedom Control Mode (Position Control Mode) ...............5-60
Two-degree-of-freedom Control Mode (Velocity Control Mode) ...............5-62
Two-stage Torque Filter ............................................................................5-63
6. Application Functions
Torque Limit Switching Function. ..............................................................5-65
Position Comparison Output Function .....................................................5-67
Single-turn Absolute Function....................................................................5-71
Continuous Rotating Absolute Encoder Function .....................................5-75
Deterioration Diagnosis Warning Function ................................................5-80
Latch Mode with Stop Function .................................................................5-84
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