Panasonic MINAS-A5B Series - Page 60

No. SX-DSV02472 -54-
4) Parameters changed by real-time auto-gain tuning
The real-time auto-tuning function updates the following parameters according to Pr 0.02 “Real-time auto-tuning
setup” and Pr 6.32 “Real-time auto-tuning custom setup” and by using the load characteristic estimate values.
Class No.
At-
trib-
ute *1)
Title Range Unit Function
0 04 B Inertia ratio 0–10000 %
Updates this parameter when the real-time auto-tuning inertia ratio
update is enabled.
6 07 B
Torque command
additional value
-100–100 %
Update this parameter when the vertical axis mode for real time
auto-tuning is valid.
6 08 B
Positive direction
Torque
Compensation
Value
-100–100 %
Update this parameter when the friction compensation mode for real
time auto-tuning is valid.
6 09 B
Negative direction
torque
compensation
value
-100–100 %
Update this parameter when the friction compensation mode for real
time auto-tuning is valid.
Note) CCW direction is positive.
The real-time auto-tuning function updates the following basic gain setup parameters according to Pr0.03
“Real-time auto-tuning machine stiffness setup”. For details, refer to 7) Basic gain parameter setup table.
Class No.
At-
trib-
ute *1))
Title Range Unit Function
1 00 B
1st gain of
position loop
0–30000 0.1/s
When stiffness setup is valid, updates the parameter based on the
setup value.
1 01 B
1st gain of
velocity loop
1–32767 0.1 Hz
When stiffness setup is valid, updates the parameter based on the
setup value.
1 02 B
1st time constant
of velocity loop
integration
1–10000 0.1 ms
When stiffness setup is valid, updates the parameter based on the
setup value.
1 04 B
1st time constant
of torque filter
0–2500 0.01 ms
When stiffness setup is valid, updates the parameter based on the
setup value.
1 05 B
2nd gain of
position loop
0–30000 0.1/s
When stiffness setup is valid, updates the parameter based on the
setup value.
1 06 B
2nd gain of
velocity loop
1–32767 0.1 Hz
When stiffness setup is valid, updates the parameter based on the
setup value.
1 07 B
2nd time constant
of velocity loop
integration
1–10000 0.1 ms
When stiffness setup is valid, updates the parameter based on the
setup value.
1 09 B
2nd time constant
of torque filter
0–2500 0.01 ms
When stiffness setup is valid, updates the parameter based on the
setup value.
Real-time auto-tuning function sets the following parameters to the fixed value.
Class No.
At-
trib-
ute *1)
Title Range Unit Function
1 03 B
1st filter of
velocity detection
0–5 —
When fixed parameter setup is valid, set the parameter to 0.
1 08 B
2nd filter of
velocity detection
0–5 —
When fixed parameter setup is valid, set the parameter to 0.
1 10 B
Velocity feed
forward gain
0–1000 0.1%
When fixed parameter setup is valid, set the parameter to 300 (30%).
1 11 B
Velocity feed
forward filter
1–6400 0.01 ms
When fixed parameter setup is valid, set the parameter to 50 (0.5 ms).
1 12 B
Torque feed
forward gain
0–1000 0.1%
When fixed parameter setup is valid, set the parameter to 0.
1 13 B
Torque feed
forward filter
0–6400 0.01 ms
When fixed parameter setup is valid, set the parameter to 0.
(To be continued)
R1.05
Motor Business Division, Appliances Company, Panasonic Corporation