Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-48
5.2.10 Load variation suppression function
This function uses the disturbance torque determined by the disturbance observer to reduce effect of
disturbance torque and vibration.
This is effective when Real-time auto tuning cannot handle load variation sufficiently.
Applicable range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the disturbance observer is activated:
Control Model

Position control, Velocity control or Full-closed control
Others

Should be in servo-on condition

Parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run smoothly.
Caution
Effect may not be expected in the following condition.
Conditions which obstruct disturbance observer action:
Load

The rigidity is low (the anti-resonance point is at low frequency range of 10 Hz or below)

The load shows a clear non-linear trend with friction and backlash.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
6 10 B Function
expansion setup -32768 to
32767 - Enables or disables the load variation suppression function.
bit1:
0: Disables the load variation suppression function
1: Enables the load variation suppression function
bit2:
0: Disables the load variation stabilization setting
1: Enables the load variation stabilization setting
bit14: 0: Disables the load variation suppression function
automatic adjustment
1: Enables the load variation suppression function
automatic adjustment
* The least significant bit is bit0.
* When bit14 to 1, it will be bit1 and 2 also 1.
6 23 B Load change
compensation
gain -100 to
100 % Defines the compensation gain against load variation.
6 24 B Load change
compensation
filter 10 to
2500 0.01 ms Defines the filter time constant against load variation.
6 73 B Load estimation
filter 0 to 2500 0.01 ms Defines the filter time constant for load estimation.
(To be continued)