Panasonic MINAS A6 Series - 1. Details of Parameter

4-74
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: [ ]
Pr6.32
Real time auto tuning custom setup
Range Unit Default
Related
control mode
−32768to32767 — 0 P S T F
Whentheoperationmodeofrealtimeautotuningissettothecustomize(Pr0.02=6),set
theautomaticadjustingfunctionasshownbelow.
Whenthetwo-degree-of-freedomcontrolmodeisset,usewithPr6.32=0.
Bit Content Description
1 to 0
Load char-
acteristics
estimation
*
Enable/disable the load characteristics estimation function.
Setup value Function
[0] Disable
1 Enable
*
 Iftheloadcharacteristicsestimationisdisabled,thecurrentsetup
cannotbechangedeveniftheinertiaratioisupdatedaccordingto
theestimatedvalue.Whenthetorquecompensationisupdatedby
theestimatedvalue,itisclearedto0(invalid).
*
 Toenabletheloadcharacteristicsmeasurement,setPr6.31Real
timeautotuningestimationspeedtoavalueotherthan0(stop
estimation).
3 to 2
Inertia ratio
update
Set up update to be made based on result of the load characteristics
estimation of Pr0.04 Inertia ratio.
Setup value Function
[0] Use the current setup.
1 Updatebytheestimatedvalue.
*
 Toenabletheinertiaratioupdate,setBits1-0(loadcharacteristic
measurement)to1(enable).Theinertiaratiowillnotbeupdated
unlessbothsettingsaremadevalid.
6 to 4
Torque
compensation
Set up the update to be made according to the results of load
characteristics estimation of Pr6.07 Torque command additional
value,Pr6.08positivedirectiontorquecompensationvalueandPr6.09
negativedirectiontorquecompensationvalue.
Setup value Function Compensation setup
[0] Use current setup Pr6.07 Pr6.08 Pr6.09
1 Disable torque compensation 0 clear 0 clear 0 clear
2 Verticalaxismode Update 0 clear 0 clear
3
Friction compensation
(low)
Update Low Low
4
Friction compensation
(middle)
Update Middle Middle
5
Friction compensation
(high)
Update High High
*
 Toenablethetorquecompensation(setto2-5),setBits3-2(Inertia
ratioupdate)to1(enable).Itisnotpossibletoupdateonlythe
torque compensation.
(continued)
1. Details of parameter
[Class 6] Special setting
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