Panasonic MINAS A6 Series - Two-Degree-Of-Freedom Control Mode (Position Control)

5-62
Related page
• P.4-6 to P.4-85... “Details of parameter”
Outline
In the two-degree-of-freedom control mode, command response and servo rigidity can
be independently set with improved responsiveness. This mode has enhanced position
control functions.
Applicable Range
This function can be applicable only when the following condition are satised.
Conditions under which
the Two-degree-of-freedom control mode is activated.
Control Mode Position control
Others
• Should be servo-on condition.
• Factors other than control parameters such as torque limit should be
properly setup, allowing motor to operate normally.
Related
Parameter
First, set Pr6.47 Function expansion setup 2 to 1 and write the setting to EEPROM. Re-
set the control power supply to enable the two-degree-of-freedom control mode. Adjust
the gain by using the real-time auto-tuning (refer to P.5-10). If further improvement is nec-
essary, manually ne tune the following parameters while checking the response.
Class No. Title Function
6 47
Function
expansion
settings 2
Set up various functions bit by bit.
bit 0 Two-degree-of-freedom control mode
0: Invalid 1: Valid
bit 3 Two-degree-of-freedom control real-time auto-tuning
select
0: Standard type 1: Synchronous type
*
The least signicant bit is represented by bit0.
*
For bit3 (two-degree-of-freedom control real time auto
tuning select): this is made usable when bit0 is at 1 (valid).
2 22
First order lter
time constant
for command
While the two-degree-of-freedom control real-time auto-
tuning is selected, time constant of command lter is applied
with the maximum value limited to 2000 (= 200.0 ms).
(The value of the parameter is not limited but the value to be
applied to driver is limited. Set attenuation term in Pr6.49 [Set
attenuation term of command lter/adjustment lter].)
Decreasing the value of this parameter makes command
response fast and large, resulting smooth command
response.
(continued)
5
5. Manual Gain Tuning (Application)
Adjustment
Two-degree-of-freedom control mode (Position control mode)
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