Panasonic MINAS A5-series Operating Instructions Manual
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5-311 Before Using the Products2 Preparation3 Connection4 Setup5 Adjustment6 When in Trouble7 SupplementRelated ParameterClass No. Title Function6 10 Functionexpansion setupSets bits related to disturbance observer.bit1 0: Invalid 1: Validbit2 0: Always valid 1: alid only when 1st gain is selected.* bit 0 = LSBExample)To use the disturbance observer in the enabled mode onlywhen 1st gain is selected:Setup value = 6To use the disturbance observer always in the enabledmode:Setup value = 26 23Disturbancetorque compen-sating gainSet up compensating gain against disturbance torque.6 24 Disturbanceobserver filterSet up the filter time constant according to the disturbancetorque compensation.How to Use1) With Pr6.10 Function enhancement setup, set observer enable/disable and operationmode (always enable/enable only when 1st gain is selected).2) Setup of Pr6.24 (Disturbance observer filter)First, set up Pr6.24 to a larger value and check the operation with Pr6.23 Disturbancetorque compensating gain set to a low value, and then gradually decrease the setup valueof Pr6.24. A low filter setup value assures disturbance torque estimation with small delayand effectively suppresses effects of disturbance. However, this results in larger operationnoise. Well balanced setup is required.3) Setup of Pr6.23 (Disturbance torque compensating gain)After setting up Pr6.24, increase Pr6.23.The disturbance suppressing capability increases by increasing the gain, but it isassociated with increasing volume of operation noise.This means that well balanced setup can be obtained by adjusting Pr6.24 and Pr6.23.5. Manual Gain Tuning (Application)Disturbance observer |
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