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

5-64
5
5. Manual Gain Tuning (Application)
Adjustment
Two-degree-of-freedom control mode (Velocity control mode)
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 speed con-
trol 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 Speed 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
*
The least signicant bit is represented by bit0.
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 640 (= 64.0 ms).
(The value of the parameter is not limited but the value to be
applied to driver is limited.)
Decreasing the value of this parameter makes command
response fast and large, resulting smooth command
response.
6 48 Adjust lter
To set the time constant of adjustment lter.
When the torque lter setting is changed, set the adjustment
lter to a near value while referring to setting of real-time
auto-tuning. In addition, by nely adjusting the adjustment
lter while monitoring the encoder position deviation in the
vicinity of steady state, overshoot or vibration waveforms
may be sometimes improved.
Related page
• P.4-6 to P.4-85... “Details of parameter”
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