Two-Degree-Of-Freedom Control Mode (Velocity Control Mode) - Panasonic MINAS A6N Series Operating Instructions Manual

5
Adjustment
Outline
In the two-degree-of-freedom control mode, command response and servo rigidity can be
independently set with improved responsiveness. This mode has enhanced speed con-
trol functions.
Only the standard type of two-degree-of-freedom control is available.
Applicable Range
This function can be applicable only when the following condition are satisfied.
Control Mode Speed control
Others
Related Parameter
First, set Pr6.47 Function expansion setup 2 to 1 and write the setting to EEPROM. Re-
set the control power supply to enable the two-degree-of-freedom control mode. Adjust
the gain by using the real-time auto-tuning (refer to P.5-10). If further improvement is
necessary, manually fine tune the following parameters while checking the response.
Class No.
6
2
6
5-62
5. Manual Gain Tuning (Application)

Two-degree-of-freedom Control Mode (Velocity Control Mode)

the Two-degree-of-freedom control mode is activated.
• Should be servo-on condition.
• Factors other than control parameters such as torque limit should be
properly setup, allowing motor to operate normally.
Title
Function
47 expansion
settings 2
Command
22
smoothing filter
48 Adjust filter
Conditions under which
Set up various functions bit by bit.
bit 0 Two-degree-of-freedom control mode
0: Invalid 1: Valid
bit 3 Two-degree-of-freedom control real-time auto-tuning
select
0: Standard type 1: Synchronous type
* The least significant bit is represented by bit0.
* For bit3 (two-degree-of-freedom control real time auto
tuning select): this is made usable when bit0 is at 1 (valid).
While the two-degree-of-freedom control real-time auto-
tuning is selected, time constant of command filter is applied
with the maximum value limited to 640 (= 64.0 ms).
(The value of the parameter is not limited but the value to be
applied to driver is limited.)
Decreasing the value of this parameter makes command
response fast and large, resulting smooth command
response.
To set the time constant of adjustment filter.
When the torque filter setting is changed, set the adjustment
filter to a near value while referring to setting of real-time
auto-tuning. In addition, by finely adjusting the adjustment
filter while monitoring the encoder position deviation in the
vicinity of steady state, overshoot or vibration waveforms
may be sometimes improved.
Function
Rev.2.00