Panasonic MINAS A6 Multi Series - Page 90

Auto Tuning Functions
5-6
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.
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
0
04
B
Inertia ratio
0 to
10000
%
Updates this parameter when the Real-time auto tuning
inertia ratio update is enabled.
6
07
B
Torque command
additional value
-100 to
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 to
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 to
100
%
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
tableBasic gain parameter setup tableBasic 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
When stiffness setup is valid, updates the parameter based
on the setup value.
1
01
B
1st gain of velocity
loop
1 to
32767
0.1 Hz
1
02
B
1st time constant of
velocity loop
integration
1 to
10000
0.1 ms
1
04
B
1st time constant of
torque filter
0 to 2500
0.01 ms
1
05
B
2nd gain of position
loop
0 to
30000
0.1/s
1
06
B
2nd gain of velocity
loop
1 to
32767
0.1 Hz
1
07
B
2nd time constant of
velocity loop
integration
1 to
10000
0.1 ms
1
09
B
2nd time constant of
torque filter
0 to 2500
0.01 ms
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
-
When fixed parameter setup is valid, set the parameter to
0.
1
08
B
2nd filter of velocity
detection
0 to 5
-
1
10
B
Velocity feed forward
gain
0 to 1000
0.1 %
When fixed parameter setup is valid, set the parameter to
300 (30%).
1
11
B
Velocity feed forward
filter
1 to 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 to 1000
0.1 %
When fixed parameter setup is valid, set the parameter to
0.
1
13
B
Torque feed forward
filter
1 to 6400
0.01 ms