Panasonic MINAS A6N Series, Operating Instructions Manual

Page: 306 / 495

5-60 Rev.2.00
5
5. Manual Gain Tuning (Application)
Adjustment
Two-degree-of-freedom Control Mode (Position Control Mode)
Outline
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
control functions.
Either of the standard type or synchronization type of the two-degree-of-freedom control
can be used
Applicable Range
This function can be applicable only when the following condition are satisfied.
Conditions under which
the Two-degree-of-freedom control mode is activated.
Control Mode Position control
Others
• Should be servo-on condition.
• Factors other than control parameters such as torque limit should be
properly setup, allowing motor to operate normally.
Related Parameter
First, set Pr6.47 ”Function expansion settings 2” to 1 and write the setting to EEPROM.
Reset the control power supply to enable the two-degree-of-freedom control mode. Ad-
just the gain by using the real-time auto-tuning (refer to P.5-10). If further improvement is
necessary, manually fine tune the following parameters while checking the response.
Class No. Title Function
6 47
Function
expansion
settings 2
Set up various functions bit by bit.
bit 0 Two-degree-of-freedom control mode
0: Invalid 1: Valid
bit 3 Two-degree-of-freedom control real-time auto-tuning
select
0: Standard type 1: Synchronous type
*
The least significant bit is represented by bit0.
* For bit3 (two-degree-of-freedom control real time auto
tuning select): this is made usable when bit0 is at 1 (valid).
2 22
Command
smoothing filter
While the two-degree-of-freedom control real-time auto-
tuning is selected, time constant of command filter is applied
with the maximum value limited to 2000 (= 200.0 ms).
(The value of the parameter is not limited but the value to be
applied to driver is limited. Set attenuation term in Pr6.49 [Set
attenuation term of command filter/adjustment filter].)
Decreasing the value of this parameter makes command
response fast and large, resulting smooth command
response.
(continued)