Panasonic MINAS A6N Series Operating Instructions Manual page 298

5. Manual Gain Tuning (Application)
Load Variation Suppression Function
Related Parameter
Class No.
6
6
6
6
6
6
6
How to Use
There are two methods below for adjusting the load variation suppression function.
■
When there is no load inertia variation (disturbance suppression setting)
1) Make normal gain adjustment in advance.
Use real-time auto tuning (Pr 0.02=1) with the load variation suppression function
automatic adjustment disabled (Pr 6.10 bit14=0), and set stiffness (Pr 0.03) as high
as possible.
2) Set bit14 to 1 in Pr 6.10 "Function expansion setting" to enable the load variation
suppression function automatic adjustment, and check disturbance suppression effect
with the motor rotate.
5-52
Title
Enables or disables the load variation suppression function.
bit1 0: Disables the load variation suppression function
bit2 0:Disables the load variation stabilization setting
Function
10 expansion
bit14 0: Disables the load variation suppression function
setup
* The least significant bit is bit0
Load variation
23 compensation Defines the compensation gain against load variation.
gain
Load variation
24 compensation Defines the filter time constant against load variation.
filter
Load
73 estimation Defines the filter time (T2) constant for load estimation.
filter
Defines the filter frequency 1 (F1) against the velocity control
output.
Torque compensation is enabled when the relation between
Torque
74 compensating Pr. 6.74 "Torque compensation frequency 1" and Pr. 6.75
frequency 1
"Torque compensation frequency 2" satisfies the following
formula.
(Pr. 6.75 x 32) ≥ Pr. 6.74 > Pr. 6.75 ≥ 1.0 Hz
Defines the filter frequency 2 (F2) against the velocity control
output.
Torque compensation is enabled when the relation between
Torque
75 compensating Pr. 6.74 "Torque compensation frequency 1" and Pr. 6.75
frequency 2
"Torque compensation frequency 2" satisfies the following
formula.
(Pr. 6.75 x 32) ≥ Pr. 6.74 > Pr. 6.75 ≥ 1.0 Hz
Load
76 estimation Defines the load estimation count.
count
Function
1: Enables the load variation suppression function
1: Enables the load variation stabilization setting
automatic adjustment
1: Enables the load variation suppression function
automatic adjustment
Rev.2.00