Panasonic MINAS A6 Series, Technical Reference

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5.2Manual adjusting function
5-63
5.2.18 Two-degree-of-freedom control mode (with full-closed control)
The two degree-of-freedom control mode is an extended function of Full-closed control mode to improve
the responsiveness by making it possible to independently set the command response and servo rigidity.
Only the standard type of two-degree -of-freedom control is available.
Applicable range
This function is unable to be applied unless the following conditions are satisfied.
Conditions in which two-degree-of-freedom control mode is activated:
Control Mode

Full-closed control
Others

Real-time auto tuning selection is two-degree-of-freedom control mode standard type.
In the case of the Synchronization s type, Err88.1“Control mode setting error protection” occurs.

To be in the servo ON state.

Elements other than control parameters, such as torque limit, etc. are properly set and the motor is free of obstacle to
normal motor rotation.
Relevant parameters
First of all, with Pr6.47 write "Function expansion setup 2" bit0 = 1 into EEPROM, and then, make the
two degree-of-freedom control mode enabled by resetting the control power supply.
Thereafter, adjust by the real-time auto-tuning.
See "5.1.3 Real-time auto tuning (Two-degree-of-freedom control mode standard type)"
Only when further improvement is required, finely adjust the following parameters manually while
checking the responses.

Relevant parameters
Class No. Attribute Title Range Unit Function
6 47 R Function
expansion setup 2 -32768 to
32767 - Set respective functions in unit of bit.
bit0: two-degree-of-freedom control mode
0: Invalid
1: Valid
bit3: Selection of real-time auto-tuning of
two-degree-of-freedom control
0: Standard type
1: Synchronization type
* The least significant bit is bit0.
* bit3 (Selection of real-time auto-tuning of
two-degree-of-freedom control) can be used only when
bit0 is set to 1: Valid.
2 22 B Command
smoothing filter 0 to 10000 0.1 ms Time constant for the command filter is set in
two-degree-of-freedom control.

The maximum value is limited to 2000 (=200.0 ms).

Command response can be quickened by decreasing this
parameter and slowed by increasing it.
 The attenuation term is set by Pr6.49 “Adjust/Torque
command attenuation
term”.
The parameter value itself is not limited, but the value
applied in the driver moduleis limited.
(To be continued)