Panasonic MINAS-A5B Series - ５5．Gain Tuning;Vibration Suppressing Function; Gain Tuning;Vibration Suppressing Function

No. SX-DSV02472 -48-
5．Gain tuning/vibration suppressing function
5-1 Automatic adjusting function .............................................................................................................................. 49
5-1-1 Real-Time Auto Tuning ................................................................................................................................. 50
5-1-2 Adaptive filter ................................................................................................................................................ 58
5-2 Manual adjusting function ................................................................................................................................... 60
5-2-1 Block diagram of position control mode ........................................................................................................ 61
5-2-2 Block diagram of velocity control mode ........................................................................................................ 62
5-2-3 Block diagram of torque control mode .......................................................................................................... 63
5-2-4 Block diagram of full-closed control mode (Not supported) .................................................................... 64
5-2-5 Gain Switching Function ............................................................................................................................... 65
5-2-6 Notch filter ..................................................................................................................................................... 71
5-2-7 Damping Control............................................................................................................................................ 73
5-2-8 Feed forward function .................................................................................................................................... 77
5-2-9 Instantaneous Velocity Observer function ..................................................................................................... 79
5-2-10 Disturbance observer function ..................................................................................................................... 81
5-2-11 3rd gain switching function .......................................................................................................................... 83
5-2-12 Friction torque compensation ....................................................................................................................... 84
5-2-13 Hybrid vibration damping function (Not supported) ............................................................................... 86
5-2-14 2-stage torque filter ...................................................................................................................................... 87
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R1.05
Motor Business Division, Appliances Company, Panasonic Corporation