Panasonic MINAS A6 Multi Series - Page 107

5.1Automatic adjusting function
5-23
Class
No.
Attribute
Title
Range
Unit
Function
1
21
B
Delay time of velocity
control switching
0 to
10000
0.1 ms
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
22
B
Level of velocity
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
23
B
Hysteresis at velocity
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
24
B
Mode of torque control
switching
0 to 3
-
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
25
B
Delay time of torque
control switching
0 to
10000
0.1 ms
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
26
B
Level of torque 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
27
B
Hysteresis at torque
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).
In case Pr 0.02 "Real-time auto-gain tuning setup" = 1 to 3, the following settings and parameters are
set automatic for enable/disable state of Pr 6.10 "Function expansion setup" load variation suppression
function automatic adjustment.
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
6
10
B
Function expansion
setup
-32768 to
32767
-
When set to Pr 6.10 bit14=1, load variation suppression
function will become enabled (bit1 = 1).
When set to Pr 6.10 bit14=0, it is disabled(bit1 = 0).
6
23
B
Load change
compensation gain
-100 to
100
%
When set to Pr 6.10 bit14=1, sets to 90%.
When set to Pr 6.10 bit14=0, sets to 0%.
6
24
B
Load change
compensation filter
10 to
2500
0.01 ms
When set to Pr 6.10 bit14=1, updates to match rigidity.
When set to Pr 6.10 bit14=0, value is held.
6
73
B
Load estimation
filter
0 to 2500
0.01 ms
When set to Pr 6.10 bit14=1, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, sets to 0 ms.
6
74
B
Torque
compensation
frequency 1
0 to 5000
0.1 Hz
Regardless value of the Pr 6.10 bit 14, sets to 0.
6
75
B
Torque
compensation
frequency 2
0 to 5000
0.1 Hz
Regardless value of the Pr 6.10 bit 14, sets to 0.
6
76
B
Load estimation
count
0 to 8
-
When set to Pr 6.10 bit14=1, sets to 4.
When set to Pr 6.10 bit14=0, sets to 0.