Panasonic MINAS A6 Series - Page 344

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How to Use
There are two methods below for adjusting the load variation suppression function.
■
When there is no load inertia variation (disturbance suppression setting)
1) Make normal gain adjustment in advance.
Use real-time auto tuning (Pr 0.02=1) with the load variation suppression function au-
tomatic adjustment disabled (Pr 6.10 bit14=0), and set stiffness (Pr 0.03) as high as
possible.
2) Set bit14 to 1 in Pr 6.10 “Function expansion setting” to enable the load variation sup-
pression function automatic adjustment, and check disturbance suppression effect with
the motor rotate.
* Before enabling or disabling the load variation suppression function, turn off the
servo rst.
* If this change causes the motor to oscillate or generates an abnormal sound, return
to Step [1] and decrease the servo rigidity by one or two levels before repeating the
subsequent steps.
3) If further aims to adjust, set bit14 to 0 in Pr 6.10 to disable the automatic adjustment of
load variation suppression function.
4) Specify a small value as possible in Pr 6.24 “Load variation compensation lter.”
Decreasing the lter setup value within the range that does not produce any signicant
abnormal sound or torque command variation will improve disturbance suppression
performance and reduce motor velocity variation and encoder position deviation.
* When an abnormal sound at high frequency (1 kHz or above) is generated, increase
the value in Pr 6.76 “Load estimation count.”
* When vibration at low frequency (10 Hz or below) is produced after operation stops,
increase the value in Pr 6.23 “Load variation compensation gain”.
* No change is required for Pr 6.73 “Load estimation lter” in normal cases, but you
can set the optimum point by ne-tuning within the range between around 0.00 and
0.20 ms.
■
When there is load inertia variation (load variation stabilization setting)
1) Turn ON the control power in two-degree-of-freedom position control (synchronization
type) (Pr 0.01=0, Pr 6.47 bit0=1 bit3=1).
2) Set the command response lter (Pr 2.22) to 10ms.
3) Set real-time auto tuning to load variation support mode, and operate the motor in a
pattern as large as possible load variation occurs in this state.
4) Set the stiffness setting (Pr 0.03) as large as possible.
5) Set the command response lter to appropriate value to continue to derease while
checking response of the motor. (*In case of need to the multi-axis trajectory control,
change all axes Pr 2.22 to the same value and adjust.)
5. Manual Gain Tuning (Application)
Load fluctuation control function
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