Panasonic MINAS A6 Multi Series - Page 91

5.1Automatic adjusting function
5-7
The Real-time auto tuning function sets the following parameters as the gain is switched.
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
1
14
B
2nd gain setup
0 to 1
-
Sets to 1 if the current setting is not maintained
1
15
B
Mode of position
control switching
0 to 10
-
Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
1
16
B
Delay time of position
control switching
0 to
10000
0.1 ms
Sets to 50 if the current setting is not maintained.
1
17
B
Level of position
control switching
0 to
20000
-
Sets to 50 if the current setting is not maintained.
1
18
B
Hysteresis at position
control switching
0 to
20000
-
Sets to 33 if the current setting is not maintained.
1
19
B
Position gain
switching time
0 to
10000
0.1 ms
Sets to 33 if the current setting is not maintained.
1
20
B
Mode of velocity
control switching
0 to 5
-
Sets to 0 if the current setting is not maintained.
1
21
B
Delay time of velocity
control switching
0 to
10000
0.1 ms
Sets to 0 if the current setting is not maintained.
1
22
B
Level of velocity
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained.
1
23
B
Hysteresis at velocity
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained.
1
24
B
Mode of torque control
switching
0 to 3
-
Sets to 0 if the current setting is not maintained.
1
25
B
Delay time of torque
control switching
0 to
10000
0.1 ms
Sets to 0 if the current setting is not maintained.
1
26
B
Level of torque control
switching
0 to
20000
-
Sets to 0 if the current setting is not maintained.
1
27
B
Hysteresis at torque
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained.
The following settings are always set to invalid when Pr 0.02 "Real-time auto tuning setup" is not 0.
However, the parameter settings are not changed.
 Relevant parameters
Class
No.
Attribute
Title
Range
Unit
Function
6
10
B
Function expansion
setup
0 to 1023
-
Instantaneous velocity observer function enable bit (bit 0),
disturbance observer function enable bit (bit 1) are internally
disabled.
6
23
B
Load change
compensation gain
-100 to
100
%
Parameter setup can be changed, but disturbance observer
is disabled.
6
24
B
Load change
compensation filter
10 to
2500
0.01 ms
Parameter setup can be changed, but disturbance observer
is disabled.
6
73
B
Load estimation
filter
0 to 2500
0.01 ms
When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, set 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 bit 14=1 in case of stiffness setting is
enabled, sets to 4.