Panasonic MINAS A6 Series - Page 358

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5
5. Manual Gain Tuning (Application)
Adjustment
Two-degree-of-freedom control mode (full-close control)
Related
Parameter
Class No. Title Function
6 49
Command
response lter /
adjustment lter
damping term
setting
Sets the damping term of command response filter and
adjustment lter.
In the decimal number system, the first digit indicates the
command response lter setting and the second digit the
adjustment lter setting.
Target digits:
0-4: No damping term (operates as a primary lter).
5-9: Secondary lter (damping term
ζ
becomes 1.0, 0.86,
0.71, 0.50, and 0.35 in sequence).
However, when Pr 2.13 “Damping lter switching select” is
4 (when two of model type damping controls are valid), the
damping ratio is fixed to 1.0 when the secondary filter is
chosen.
Ex.) In the event that you want to have
ζ
= 1.0 for the
command response lter and
ζ
= 0.71 for the adjustment
lter 1, the setting value is 75 (5 for the rst digit (
ζ
= 1.0)
and 7 for the second digit (
ζ
= 0.71)).
Pr 2.22 “Command smoothing lter” is applied for the time
constant of command response lter,
6 50
Viscosity friction
compensation
gain
Adds the result of multiplying the command speed by this
setting to the torque command as the viscous friction torque
compensation value. Setting the estimated value of viscous
friction coefcient of real time auto-tuning may sometimes
improve the encoder position deviation near the steady state.
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