Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 265 / 495

5-19 Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
5
2. Real-Time Auto-Gain Tuning
Adjustment
Two-degree-of-freedom Control Mode – Synchronous Type
Outline
The Two-degree-of-freedom control mode has two types: standard type and synchronization
type.
Standard type : This is a standard mode. Use this mode normally.
Synchronization type:
Use this mode for locus control of multiple axes of an articulated robot, etc.
This item is an auto tuning function exclusive for the synchronization type.
Load characteristic of a machine is estimated on a real-time basis, and using the results, ba-
sic gain settings and load fluctuation compensation are automatically specified in accordance
of hardness parameters.
Applicable Range
Conditions for real-time auto tuning
Control Mode
Position Control
Pr6.47 bit0=1 and bit3=1: Two-degree-of-freedom control mode
Synchronization type
Others
•
Should be in servo-on condition.
•
Input signals such as command input disable signals, and parameters except
control parameters such as torque limit settings are correctly set, assuring
that the motor can run smoothly.
Caution
•
After the power is turned on, estimate value following may become quicker regardless
of Pr6.31 “Real-time auto tuning estimation speed” until operation data effective for the
estimation
of load characteristics is sufficiently accumulated.
•
When real-time auto-gain tuning is effective, an estimate value may become abnormal
due to disturbance. If you want to obtain stable operation from when the power is turned
on, it is recommended to disable the real-time auto-gain tuning.
Real-time auto-gain tuning may not be executed properly under the conditions described
below.Under these conditions, change the load conditions or operation patterns, or start
manual gain tuning (refer to P.5-35 and subsequent).
Conditions which obstruct real-time auto-gain tuning
Load
condition
•
The load mass is too small or large with reference to the rotor mass (smaller
than three times or 20 times or larger).
•
The load mass varies.
•
The mechanical stiffness is extremely low.
•
Any non-linear characteristic exists such as backlash.
Action
pattern
•
Continuous use at a low speed of less than 100 [mm/s]
•
The acceleration is low at 2000 [mm/s] per 1 [s].
•
A speed at 100 [mm/s] or higher or a acceleration/deceleration of 2000
[mm/s] per 1 [s] does not continue for 50 [ms] or longer.
•
The acceleration/deceleration torque is small with reference to the uneven
load/ viscous friction torque.