Panasonic MINAS A5-series Operating Instructions Manual page 261

5. Manual Gain Tuning (Application)
Disturbance observer
Related Parameter
Class No.
6 10
6 23
6 24
How to Use
1) With Pr6.10 Function enhancement setup, set observer enable/disable and operation
mode (always enable/enable only when 1st gain is selected).
2) Setup of Pr6.24 (Disturbance observer filter)
First, set up Pr6.24 to a larger value and check the operation with Pr6.23 Disturbance
torque compensating gain set to a low value, and then gradually decrease the setup value
of Pr6.24. A low filter setup value assures disturbance torque estimation with small delay
and effectively suppresses effects of disturbance. However, this results in larger operation
noise. Well balanced setup is required.
3) Setup of Pr6.23 (Disturbance torque compensating gain)
After setting up Pr6.24, increase Pr6.23.
The disturbance suppressing capability increases by increasing the gain, but it is
associated with increasing volume of operation noise.
This means that well balanced setup can be obtained by adjusting Pr6.24 and Pr6.23.
Title
Sets bits related to disturbance observer.
bit1 0: Invalid
bit2 0: Always valid 1: alid only when 1st gain is selected.
* bit 0 = LSB
Example)
Function
To use the disturbance observer in the enabled mode only
expansion setup
when 1st gain is selected:
Setup value = 6
To use the disturbance observer always in the enabled
mode:
Setup value = 2
Disturbance
torque compen- Set up compensating gain against disturbance torque.
sating gain
Disturbance Set up the filter time constant according to the disturbance
observer filter torque compensation.
Function
1: Valid
1
2
3
4
5
6
7
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