Panasonic MINAS A6 Multi Series - Page 99

5.1Automatic adjusting function
5-15
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 (Pr0.02=1 to 4), 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 4000
0.1 %
When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 1000 (100%).
1
11
B
Velocity feed forward
filter
1 to 6400
0.01 ms
When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 0 (invalid).
1
12
B
Torque feed forward
gain
0 to 2000
0.1 %
When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 1000 (100%).
1
13
B
Torque feed forward
filter
1 to 6400
0.01 ms
When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 0 (invalid).
6
10
B
Function expansion
setup
-32768 to
32767
-
When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to bit4=1.
6
49
B
Adjust/Torque
command attenuation
term
0 to 99
-
When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 15.
When Pr0.02=6, set the tenths digit to 1 and maintain the
unit digit.
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 (Pr0.02=1
to 4).
1
15
B
Mode of position
control switching
0 to 10
-
For the standard response mode (Pr0.02=1), set the
parameter to 0.
For high response mode 1 to 3 (Pr0.02=2 to 4), set the
parameter to 7.
1
16
B
Delay time of position
control switching
0 to
10000
0.1 ms
Sets to 10 if the current setting is not maintained
(Pr0.02=1 to 4).
1
17
B
Level of position
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1
18
B
Hysteresis at position
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1
19
B
Position gain
switching time
0 to
10000
0.1 ms
Sets to 10 if the current setting is not maintained
(Pr0.02=1 to 4).
1
20
B
Mode of velocity
control switching
0 to 5
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
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
(Pr0.02=1 to 4).
1
22
B
Level of velocity
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1
23
B
Hysteresis at velocity
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1
24
B
Mode of torque control
switching
0 to 3
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
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
(Pr0.02=1 to 4).
1
26
B
Level of torque control
switching
0 to
20000
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
1
27
B
Hysteresis at torque
control switching
0 to
20000
-
Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
(To be continued)