Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-50 Rev.2.00
5. Manual Gain Tuning (Application)
Feed Forward Function
With the gain set at 100 %, calculatory positional deviation is 0, but significant overshoot
occurs during acceleration/deceleration.
If the updating cycle of the positional command input is longer than the driver control
cycle, or the pulse frequency varies, the operating noise may increase while the velocity
feed forward is active. If this is the case, use positional command filter (1st delay or FIR
smoothing), or increase the velocity forward filter setup value.
Usage Example of Torque Feed Forward
Caution
To use the torque feed forward, correctly set the inertia ratio. Use the value that was
determined at the start of the real time auto tuning, or set the inertia ratio that can be
calculated from the machine specification to Pr 0.04 "Inertia ratio".
When torque feed forward filter is set to 50
（
0.5 ms
）
,After check to waveform graphic
functions of "PANATERM", the torque feed forward gain is gradually increased with
the torque feed forward filter set at approx. 50.The velocity feed forward will become
effective.
Positional deviation at a constant acceleration/deceleration can be minimized close
to 0 by increasing the torque forward gain. This means that positional deviation can
be maintained at near 0 over entire operation range while driving in trapezoidal speed
pattern under ideal condition where disturbance torque is not active.
Because there is always a disturbance torque actually, the positional deviation is not 0.
In addition,as the velocity feed forward,if the time constant of the torque feed forward
filter is increased,noise will be reduced,but the positional deviation of the acceleration
change point will increase.
Command speed
Positional deviation
0[%]
50[%]
100[%]
Time
Motor speed
Torque feed forward
gain
Velocity feed forward gain = Fixed 100[%]
Positional deviation in the
region where acceleration
is constant can be reduced
by torque feed forward.
• Feed forward given through RTEX communication should be filtered at the host device.
• If the control mode is changed from other than torque control mode to torque control mode
while the motor is in operation, torque feed forward may be applied even if in torque control
mode.
Related page
• P.3-39... “Details of Parameter”