Panasonic MINAS A6 Multi Series - Page 106

Auto Tuning Functions
5-22
Real-time auto tuning function sets the following parameters to the fixed value.
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
1
03
B
1st filter of velocity
detection
0 to 5
-
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), set the parameter
to 0.
1
08
B
2nd filter of velocity
detection
0 to 5
-
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), set the parameter
to 0.
1
10
B
Velocity feed forward
gain
0 to 4000
0.1 %
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), set the parameter
to 1000 (100%).
1
11
B
Velocity feed forward
filter
0 to 6400
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), set the parameter
to 0 (invalid).
1
12
B
Torque feed forward
gain
0 to 2000
0.1 %
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), set the parameter
to 1000 (100%).
1
13
B
Torque feed forward
filter
0 to 6400
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), set the parameter
to 0 (invalid).
6
7
B
Torque command
additional value
-100 to
100
%
In the case of the synchronous friction compensation mode
(Pr0.02=2) or load characteristic update mode (Pr0.02=4),
set the parameter to 0.
6
10
B
Function expansion
setup
-32768 to
32767
-
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), set the parameter
to bit4=1.
6
49
B
Adjust/Torque
command attenuation
term
0 to 99
-
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), set the tenths digit
to 1 and maintain the unit digit.
The Real-time automatic tuning sets the following parameters or uses the current settings, depending
on Pr0.02 "Real-time auto-gain tuning setup".
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
1
14
B
2nd gain setup
0 to 1
-
Sets to 1 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1
15
B
Mode of position
control switching
0 to 10
-
Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1
16
B
Delay time of position
control switching
0 to
10000
0.1 ms
Sets to 10 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1
17
B
Level of position
control switching
0 to
20000
-
Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1
18
B
Hysteresis at position
control switching
0 to
20000
-
Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1
19
B
Position gain
switching time
0 to
10000
0.1 ms
Sets to 10 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1
20
B
Mode of velocity
control switching
0 to 5
-
Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
(To be continued)