Mode Of 2 Degrees Of Freedom Control (Standerd Type) - Panasonic MINAS-A5BL Series Manual

5-2-13 Mode of 2 degrees of freedom control (Standerd type)

The mode of 2 degrees of freedom control is expanded function of the position control mode which
aims at the improvement of a response by enabling a setup of the "Position command response measurement"
and "Disturbance control measurement(Servo stiffness)" independently.
(1) Application range
□ This function cannot be applied unless the following conditions are satisfied.
Control mode
Others
(2) Precautions
Please write EEPROM as Pr6.47"
Mode is enabled by Control power supply reset
After this, please adjust in Real-time Auto Tuning. For adjustment, refer to Section 5-1-3.
Only when the further improvement is required, please tune the following parameter finely manually,
checking a response.
However, when the 2 degrees of freedom control mode is valid, only one damping filter can be used at the
same time. For details, refer to Section 5-2-7.
At-
Class No. trib-
ute *1)
47 R
6
B
2 22
6 48 B Tuning filter
(To be continued)
R1.00
Operating conditions for the mode of 2 degrees of freedom control
• Control mode to be position control
(Note) While this function is enabled, changing to a control mode other than the
position control mode results in an occurrence of Err88.1 "Control mode setting error
protection".
• Should be in servo-on condition
• Parameters except for controls such as torque limit setup, are correctly set, assuring that the
motor can operate normally.
Function expansion setup 2
Title Range
Function
expansion 0∼127
setup 2
Positional
command
0∼10000 0.1ms
smoothing
filter
0∼2000 0.1ms
"=1 first, Block Diagram of 2 Degrees of Freedom
Unit
Set various functions with bits.
bit0 2 degrees of freedom control mode(Standerd type)
-
(Position control)
0: Disabled 1: Enabled
To set the time constant of the 1st order filter for the position
command.
Set to the time constant of the command response filter for 2
degrees of freedom control. The maximum value is 2000
(=200.0ms). (This restriction is imposed not on parameters
themselves, but on values applied inside the driver. The damping
is set in Pr6.49 "Command response/tuning filter damping
setting."
Set the time constant of the tuning filter.
- If you have modified the torque filter setting, refer to the setting of
real-time auto tuning, and set to an approximate value.
- By performing fine adjustments while looking at the feedback
scale positional deviation near stability, you may be able to obtain
improvements with overshoot and vibration waveform.
- Set the damping in Pr6.49 "Command response/tuning filter
damping setting."
No. SX-DSV02829 -
Function
Motor Business Unit, Panasonic Corporation
118-