Panasonic MINAS A6 Multi Series - 5.2.15 Quadrant Projection Suppression Function

Auto Tuning Functions
5-56
5.2.15 Quadrant projection suppression function
Control configuration can be switched to suppress quadrant projection occurring during arc interpolation
of 2 or more axes. To be used in conjunction with load fluctuation suppression function.
Applicable range
This function is unable to be applied unless the following conditions are satisfied.
Conditions in which quadrant projection suppression function is triggered:
Control Mode
 Position control mode or Full-closed control mode.
Others
 To be in Servo-On state.
 Elements other than control parameters, such as prohibition of deviation counter clear command input and torque
limit, etc. are set appropriately, in a state where there are no obstructions in normal motor revolutions.
Cautions
There are cases where effects cannot be observed under the following conditions.
Conditions where the effects of quadrant projection suppression function is disrupted:
Load
 When rigidity is low (anti-resonance point exists in the low frequency range of 10 Hz or lower)
 When non-linearity of load is strong from existence of backlash, etc.
 When action patterns are changed.
Relevant parameters
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
5
45
B
Quadrant glitch
positive-direction
compensation
value
-1000 to 1000
0.1%
Sets amount of compensation to be added to torque
command when the position command is in positive
direction and quadrant projection compensation function is
enabled.
5
46
B
Quadrant glitch
negative-direction
compensation
value
1000 to
1000
0.1%
Sets amount of compensation to be added to torque
command when the position command is in negative
direction and quadrant projection compensation function is
enabled.
5
47
B
Quadrant glitch
compensation
delay time
0 to 1000
ms
Sets the length of delay time for switching of amount of
compensation after position command has been reversed,
when quadrant projection compensation function is
enabled.
5
48
B
Quadrant glitch
compensation filter
setting L
0 to 6400
0.01 ms
Sets time constant for low-pass filter on the amount of
compensation on torque command when quadrant
projection compensation function is enabled.
5
49
B
Quadrant glitch
compensation filter
setting H
0 to 10000
0.1 ms
Sets time constant for high-pass filter on the amount of
compensation on torque command when quadrant
projection compensation function is enabled.
6
47
R
Function
expansion setup 2
-32768 to
32767
–
bit14:Enables/disables quadrant projection compensation
function.
0: disabled
1: enabled
6
97
B
Function
expansion setup 3
-2147483648
to 2147483647
–
bit0: Enables/disables quadrant projection compensation
function extended.
0: disabled
1: enabled
To set the compensation amount of quadrant projection by
inversion direction when the direction of the velocity has
changed, set Pr6.97 bit0 to 1.