Panasonic MINAS A6 Multi Series - Page 98

Auto Tuning Functions
5-14
Parameter changed by real-time auto tuning
The Real-time auto tuning function updates the following parameters using load characteristic values, in
accordance with Pr0.02 "Real-time auto-gain tuning setup."
 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 (Pr0.02=1 to 4).
6
07
B
Torque command
additional value
-100 to
100
%
Updates this parameter when high response mode 2 or 3
(Pr0.02=3,4) for Real-time auto tuning is selected.
6
08
B
Positive direction
torque compensation
value
-100 to
100
%
Updates this parameter when high response mode 3
(Pr0.02=4) for Real-time auto tuning is selected.
6
09
B
Negative direction
torque compensation
value
-100 to
100
%
Updates this parameter when high response mode 3
(Pr0.02=3) for Real-time auto tuning is selected.
6
50
B
Viscous friction
compensating gain
0 to
10000
0.1%/
(10000r/
min)
Updates this parameter when high response mode 3
(Pr0.02=3) for Real-time auto tuning is selected.
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 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
1
22
B
Command smoothing
filter
0 to
10000
0.1 ms
When stiffness setup is valid (Pr0.02=1 to 4), updates the
parameter based on the setup value.
Sets the time constant for the command filter during 2
degrees of freedom control.
6
48
B
Adjust filter
0 to 2000
0.1 ms
When stiffness setup is valid (Pr0.02=1 to 4), updates the
parameter based on the setup value.