Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 249 / 495

5-3 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
Remarks •
Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs,
shut off the main power, or turn to Servo-OFF.
1. Gain Adjustment
Outline
Type
Function Explanation
Pages
to refer
Automatic
adjustment
Real-time auto-gain tuning
Estimates the load inertia of the machine in real time, and automati-
cally sets up the optimum gain corresponding to this result.
P.5-4
Two-degree-of-freedom
control mode
In the two-degree-of-freedom control mode, command response and
servo rigidity can be independently set with improved responsiveness.
This mode has enhanced position and speed control functions.
P.5-10
Adaptive filter
Reduces the resonance vibration point by automatically setting up the
notch filter coefficient which removes the resonance component from
the torque command while estimating the resonance frequency from
the vibrating component which appears in the motor speed in actual
operating condition. P.5-28
Manual adjustment
Manual gain tuning (basic)
Execute the manual adjustment or fine-tuning when real-time auto-
gain tuning cannot be activated due to the limitation of operation or
load condition, or when you want to obtain an optimum response and
stability under these conditions.
P.5-31
Basic procedure
Adjustment in position control mode P.5-32
Adjustment in velocity control mode P.5-35
Adjustment in torque control mode P.5-35
Gain switching function
You can expect to reduce vibration at stopping and settling time and
to improve command compliance by switching the gains by internal
data or external signals.
P.5-36
Suppression of machine
resonance
When the machine stiffness is low, vibration or noise may be gener-
ated due to the distorted axis, hence you cannot set the higher gain.
You can suppress the resonance with two kinds of filter.
P.5-39
Manual gain tuning
(application)
You can obtain the higher performance while you are not satisfied
with the performance obtained with the basic adjustment, using the
following application functions.
P.5-43
Damping control
Damping control
Model-type damping filter
P.5-45
Feed forward function
Velocity feed forward function improves responsiveness during
position control.Torque feed forward improves the response of velocity
control system.
P.5-49
Load variation
suppression function
Function which obtains both reducing motor speed variation and
improving stability by changing estimated disturbance torque and load
fluctuation .
P.5-51
3rd gain switching
function
By using this function in addition to the normal gain switching function,
the gain can be changed at the moment of stop to further shorten the
positioning time.
P.5-54
Friction torque
compensation
Offset load compensation and dynamic friction compensation are
used to reduce effects of mechanical friction.
P.5-56
Qudrant projecttion
suppression function
Control configuration can be switched to suppress quadrant projection
occurring during arc interpolation of 2 or more axes.
P.5-58
Two-degree-of-freedom
control mode
In the two-degree-of-freedom control mode, command response and
servo rigidity can be independently set with improved responsiveness.
This mode has enhanced position and speed control functions.
P.5-60
Two-stage torque filter
In addition to 1st and 2nd torque filters (Pr1.04 and Pr1.09), another
torque filter can be set.
P.5-63