Panasonic MINAS A6 Series - Page 209

4-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
Note
Related page
•Aparameterisdesignatedasfollows:
Pr0.00
Parameter No.Class
•ForparameterswhichNo.haveasuffixof“
*
”,changedcontentswillbevalidated
whenyouturnonthecontrolpower.
•P.3-32...“InputsandoutputsonconnectorX4”
Default: [ ]
1. Details of parameter
[Class 0] Basic setting
Pr0.02
Real-time auto-gain tuning setup
Range Unit Default
Related
control mode
0 to 6 — 1 P S T F
You can set up the action mode of the real-time auto-gain tuning.
Setup
value
Mode Varying degree of load inertia in motion
0 Invalid Real-time auto-gain tuning function is disabled.
[1] Standard
Basicmode.Donotuseunbalancedload,frictioncompensationor
gainswitching.
2 Positioning
*
1
Main application is positioning. It is recommended to use this mode
onequipmentwithoutunbalancedhorizontalaxis,ballscrewdriving
equipmentwithlowfriction,etc.
3 Verticalaxis
*
2
With additional features to the positioning mode - use this mode to
positivelyandeffectivelycompensateforunbalancedloadtothe
verticalaxisorminimizevariationsinsettingtime.
4
Friction
compensation
*
3
Withadditionalfeaturestotheverticalaxismode-usethismodeto
positivelyandeffectivelyreducepositioningsettingtimewhenthebelt
drivingaxishashighfriction.
5
Load characteristic
measurement
Estimatetheloadcharacteristicswithoutchangingcurrentparameter
setting.Thismoderequiresuseofthesetupsupportsoftware.
6 Customize
*
4
Functions of real-time auto-gain tuning can be customized to meet the
requirementsofthespecicapplicationbycombiningdesiredfunctions
accordingtothePr6.32“Real-timeauto-gaintuningcustomsetting”.
*
1 Velocity and torque controls are the same as in the standard mode.
*
2 Torque control is the same as in the standard mode.
*
3 Velocitycontrolisthesameasintheverticalaxismode.Torquecontrolisthesameas
in the standard mode.
*
4 Certainfunction(s)isnotavailableinaspeciccontrolmode.Refertodescriptionin
Pr6.32.
Two-degree-of-freedomcontrolmode:standardtype
ForTwo-degree-of-freedomcontrolmode,refertoPr6.47(P.4-64).
Set up the action mode of the real-time auto-gain tuning.
Setup
value
Mode Varying degree of load inertia in motion
0 Invalid Real-time auto-gain tuning function is disabled.
[1] Standard
Stability-rstmode.Donotuseunbalancedloadcompensation,friction
compensationorgainswitching
2
Quick response
mode 1
Positioning-firstmode.Usethismodeforequipmentwithhorizontal
axis,lowfrictionballscrewdrivingandwithoutunbalancedload.
3
Quick response
mode 2
InadditiontothefeaturesprovidedwiththeQuickresponsemode1,
usethismodetocompensateunbalancedload,toapplythirdgainto
reducevariationinpositioningsettlingtime.
4
Quick response
mode 3
*
1
InadditiontothefeaturesprovidedwiththeQuickresponsemode2,
usethismodetoshortenpositioningsettlingtimewhentheloadhas
high friction.
5
Load characteristic
measurement
Estimateloadcharacteristicswithoutchangingbasicgainsetting
orfrictioncompensationsettingwiththehelpofthesetupsupport
software.
6
Fit gain mode
To
beusedforneadjustmentofrigiditysettingaftercompletionof
tgain.
*
1
Velocitycontrolisthesameasinthequickresponsemode2.Valueofparameters,Pr6.08
Forwardtorquecompensationvalue,Pr6.09Backwardtorquecompensationvalueand
Pr6.50Viscousfrictioncompensationgainwillbeupdatedbutnotreectedonoperation.
(continued)
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