Panasonic MINAS A6 Multi Series - Page 105

5.1Automatic adjusting function
5-21
Parameter changed by Real-time auto tuning
The Real-time auto tuning function updates the following parameters according to Pr0.02 "Real-time
auto-tuning setup" by using the load characteristic estimate value.
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
0
04
B
Inertia ratio
0 to
10000
%
Updates this parameter in the case of the synchronization
mode (Pr0.02=1), synchronous friction compensation mode
(Pr0.02=2) and load characteristic update mode (Pr0.02=4)
for Real-time auto tuning.
6
08
B
Positive direction
torque Compensation
Value
-100 to
100
%
Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
6
09
B
Negative direction
torque compensation
value
-100 to
100
%
Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
6
50
B
Viscous friction
compensating gain
0 to
10000
0.1%/
(10000r/
min)
Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
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 "Basic gain parameter setup
table".
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
1
00
B
1st gain of position
loop
0 to
30000
0.1/s
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1
01
B
1st gain of velocity
loop
1 to
32767
0.1 Hz
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1
02
B
1st time constant of
velocity loop
integration
1 to
10000
0.1 ms
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1
04
B
1st time constant of
torque filter
0 to 2500
0.01 ms
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1
05
B
2nd gain of position
loop
0 to
30000
0.1/s
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1
06
B
2nd gain of velocity
loop
1 to
32767
0.1 Hz
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1
07
B
2nd time constant of
velocity loop
integration
1 to
10000
0.1 ms
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1
09
B
2nd time constant of
torque filter
0 to 2500
0.01 ms
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
6
48
B
Adjust filter
0 to 2000
0.1 ms
In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.