No. SX-DSV02829 -
92-
5-2 Manual adjusting function
As explained previously, MINAS-A5BL series features the automatic gain tuning function, however, there might be
some cases where this automatic gain tuning cannot be adjusted properly depending on the limitation on load
conditions. Or you might need to readjust the tuning to obtain the optimum response or stability corresponding to each
load.
Here we explain this manual gain tuning method by each control mode and function.
1)
Block diagram of position control mode (5-2-1)
2)
Block diagram of velocity control mode (5-2-2)
3)
Block diagram of torque control mode (5-2-3)
4)
Gain switching function (5-2-4)
5)
Notch filter (5-2-5)
6)
Damping control (5-2-6)
7)
Feed forward function (5-2-7)
8)
Instantaneous velocity observer (5-2-8)
9)
Disturbance observer (5-2-9)
10) 3rd gain switching function (5-2-10)
11) Friction torque compensation (5-2-11)
12) 2-stage torque filter (5-2-12)
13) Block Diagram of 2 Degrees of Freedom Mode (Standerd type) (5-2-13)
14) Model type damping filter (5-2-14)
15) Viscous friction compensating gain / Model type damping filter application parameter switching function
(5-2-15)
R1.00
Motor Business Unit, Panasonic Corporation
