Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-66
5.2.19 Two-degree-of-freedom control mode (with torque control)
Torque control is the same regardless of whether the 2-DOF control mode is enabled or disabled.
For details, refer to "TECHNICAL REFERENCE EtherCAT Communication Specification (SX-DSV03456)".
5.2.20 High response current control
High response current control is a function to improve the responsiveness of the current control part by
changing Pr6.11 "Current response setup" to a value larger than the shipment value 100%.
Because it may be prone to generate vibration and noise, adjust to an appropriate value depending on
the operating situation of an applicable unit just like the adjustment of the position control part/velocity
control part.
Applicable range
This function works under the following condition.
Operating conditions for high response current control:
Control Mode

Can be used in all control modes.
Others

The software version shall be function extended version 2 or later.

Should be in servo-on condition

The elements other than control parameters such as torque limit settings are correctly set, assuring that the motor can
run smoothly.
Relevant parameters

Relevant parameters
Class No. Attribute Title Range Unit Function
6 11 B Current response
setup 10 to 300 % Adjust the current response with the level at shipment considered
as 100 %.
Setting this setting value at a value larger than 100 can improve
current responsiveness.
Cautions

When the value of Pr6.11 “Current response setting” is 99 or less, the current response can be lowered than
the factory setting.

The settable maximum value differs depending on the connected motor and the value is limited to 300% or
lower (100% for some motors).