Panasonic MINAS A6N Series, Руководство по эксплуатации

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5-51 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
5. Manual Gain Tuning (Application)
Adjustment
Load Variation Suppression Function
Outline
This function uses the disturbance torque determined by the disturbance observer to reduce
effect of disturbance torque and vibration.
This is effective when real-time auto tuning cannot handle load variation sufficiently.
Torque
compensation
Motor
+ load
＋
－
F1
Velocity control
output
6.74
F2 6.75
Disturbance
compensation
K 6.23
T１ 6.24
Load
estimation
T2 6.73
N 6.76
Disturbance
torque
Load
variation
Torque
command
Load fluctuation supported function
Motor speed
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Conditions under which the load variation suppression function is activated
Control mode
•
Should be either position control, or velocity control,
Others
•
Should be in servo-on condition
•
Parameters except for controls such as torque limit setup, are correctly
set, assuring that the motor can run smoothly.
Caution
Effect may not be expected in the following condition.
Conditions which load variation suppression function action
Load
•
The rigidity is low (the anti-resonance point is at low frequency range of
10 Hz or below).
•
The load shows a clear non-linear trend with friction and backlash.