Panasonic MINAS A5-series Operating Instructions Manual
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5-305 5. Manual Gain Tuning (Application)Adjustment Disturbance observerOutlineThis function uses the disturbance torque determined by the disturbance observer to re-duce effect of disturbance torque and vibration.Applicable RangeThis function can be applicable only when the following conditions are satisfied.Conditions under which the disturbance observer is activatedControl mode• Control mode to be either or both position control or/and velocity control.Pr0.01 = 0 : Position controlPr0.01 = 1 : Velocity controlOthers• Should be in servo-on condition• Input signals such as the deviation counter clear and command inputinhibit, and parameters except for controls such as torque limit setup, arecorrectly set, assuring that the motor can run smoothly.• Real-time auto-tuning should be disabled. (Pr0.02=0)• Instantaneous speed observer should be disabled. (Pr6.10=0)• Gain switchover should be enabled.CautionEffect may not be expected in the following condition.Conditions which obstruct disturbance observer actionLoad• Resonant frequency is lower than the cutoff frequency estimated by thedisturbance observer.• Disturbance torque contains many high frequency components.Disturbance observerEstimated disturbance torque valueMotor speedAdded in the direction tocancel the disturbanceMotor + loadLoad model++++ ––Disturbance torqueTorque commandTorque commandGainFilterSet in Pr6.23 Set in Pr6.24Related page • P.4-4... , P.4-52 “Details of parameter” |
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