Two-Degree-Of-Freedom Control Mode Standard Type - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
The Two-degree-of-freedom control mode has two types: standard type and synchronization type.
Standard type
Synchronization type : Use this mode for locus control of multiple axes of an articulated robot, etc.
This item is an auto tuning function exclusive for the standard type.
Load characteristic of a machine is estimated on a real-time basis, and using the results, ba-
sic gain settings and friction compensation are automatically specified in accordance of hard-
ness parameters.
Applicable Range
Control Mode
Others
Caution
・After the power is turned on, estimate value following may become quicker regardless
of Pr6.31 "Real-time auto tuning estimation speed" until operation data effective for the
estimation of load characteristics is sufficiently accumulated.
・When real-time auto-gain tuning is effective, an estimate value may become abnormal
due to disturbance. If you want to obtain stable operation from when the power is
turned on, it is recommended to disable the real-time auto-gain tuning
Real-time auto-gain tuning may not be executed properly under the conditions described
below.Under these conditions, change the load conditions or operation patterns, or start
manual gain tuning (refer to P.5-35 and subsequent).
Load
condition
Action
pattern
5-10
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom Control Mode – Standard Type
: This is a standard mode. Use this mode normally.
Real-time auto-tuning condition
Position Control, Velocity control or Full-closed control
Pr6.47 bit0=1 and bit3=0: Two-degree-of-freedom control mode Standard type.
•Should be in servo-on condition.
•Input signals such as command input disable signals, and parameters
except control parameters such as torque limit settings are correctly set,
assuring that the motor can run smoothly.
Conditions which obstruct real-time auto-gain tuning
•The load mass is too small or large with reference to the rotor mass (smaller
than three times or 20 times or larger).
•The load mass varies.
•The mechanical stiffness is extremely low.
•Any non-linear characteristic exists such as backlash.
•Continuous use at a low speed of less than 100 [mm/s]
•The acceleration is low at 2000 [mm/s] per 1 [s].
•A speed at 100 [mm/s] or higher or a acceleration/deceleration of 2000
[mm/s] per 1 [s] does not continue for 50 [ms] or longer.
•The acceleration/deceleration torque is small with reference to the uneven
load/ viscous friction torque.
Rev.2.00