Panasonic MINAS A6 Multi Series - Page 109

5.1Automatic adjusting function
5-25
 The control gain is updated when the motor is stopped. Therefore, if the motor is not stopped because gain is
excessively low or commands are given continually in one direction, the change in the set value for Pr0.03
"Real-time auto tuning machine stiffness setup" may not be reflected. In this case, abnormal sound or
oscillation may be generated depending on the stiffness setting that is reflected after the motor stops.After
the stiffness setting is changed, be sure to stop the motor once and check that the stiffness setting has been
reflected before performing the next operation.
Basic gain parameter setup table
Stiffness
1st gain / 2nd gain
Adjust
filter
For load
fluctuation
suppression
function
For load variation support mode (Pr0.02 = 6)
only
Pr 1.00
Pr 1.05
Pr 1.01
Pr 1.06
Pr 1.02
Pr 1.07
Pr 1.04
Pr 1.09
Pr 6.48
(Note 1)
Pr 6.24
Pr1.00
Pr1.05
Pr6.24
Pr6.74
Pr6.75
Position
[0.1/s]
Speed
[0.1 Hz]
Velocity
integral
[0.1 ms]
Torque
[0.01 ms]
Time
constant
[0.1 ms]
Load fluctuation
compensation filter
[0.01/ms]
Load
fluctuation
position loop
gain
0.1 [1/s]
Load
fluctuation
compensation
filter
[0.01/ms]
Torque
compensation
frequency L
0.1 [Hz]
Torque
compensation
frequency H
0.1 [Hz]
0
20
15
3700
1500
155
2500
15
1330
25
7
1
25
20
2800
1100
115
2500
20
990
34
10
2
30
25
2200
900
94
2500
25
800
42
12
3
40
30
1900
800
84
2500
30
660
51
15
4
45
35
1600
600
64
2500
35
570
59
17
5
55
45
1200
500
54
2500
45
440
76
22
6
75
60
900
400
44
2500
60
330
104
30
7
95
75
700
300
34
2120
75
270
129
37
8
115
90
600
300
34
1770
90
220
153
44
9
140
110
500
200
24
1450
110
180
184
53
10
175
140
400
200
23
1140
140
140
231
66
11
320
180
310
126
16
880
180
110
290
83
12
390
220
250
103
13
720
220
90
346
99
13
480
270
210
84
11
590
270
70
413
118
14
630
350
160
65
9
450
350
60
512
146
15
720
400
140
57
8
400
400
50
570
163
16
900
500
120
45
7
320
500
40
678
194
17
1080
600
110
38
6
270
600
40
678
194
18
1350
750
90
30
5
210
750
40
678
194
19
1620
900
80
25
5
180
900
40
678
194
20
2060
1150
70
20
4
140
1150
40
678
194
21
2510
1400
60
16
4
110
1400
40
678
194
22
3050
1700
50
13
3
90
1700
40
678
194
23
3770
2100
40
11
3
80
2100
40
678
194
24
4490
2500
40
9
3
60
2500
40
678
194
25
5000
2800
35
8
2
60
2800
40
678
194
26
5600
3100
30
7
2
50
3100
40
678
194
27
6100
3400
30
7
2
50
3400
40
678
194
28
6600
3700
25
6
2
40
3700
40
678
194
29
7200
4000
25
6
2
40
4000
40
678
194
30
8100
4500
20
5
2
40
4500
40
678
194
31
9000
5000
20
5
2
40
5000
40
678
194
(Note 1) There is that Pr6.48 “Adjust filter” adds 1 to by a combination of driver and motor.