Panasonic MINAS A6 Series - Page 277

4-75
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 6] Special setting
7
Stiffness
setup
Enable/disable the basic gain setup to be made according to Pr0.03
Real time auto tuning mechanical stiffness selection.
Setup value Function
[0] Disable
1 Enable
*
 Tosetthissettingtoavalueotherthan0,setBits3-2(Inertiaratio
update)to1(enable).Inertiaratioisenabled/disabledbythesetting
ofBits1and0(loadcharacteristicsmeasurement).
8
Fixed
parameter
setup
Enable/disablethechangeofparameterthatisnormallysetataxedvalue.
Setup value Function
[0] Use the current setup.
1 Settoaxedvalue.
*
 Tosetthissettingtoavalueotherthan0,setBits3-2(Inertiaratio
update)to1(enable).Inertiaratioisenabled/disabledbythesetting
ofBits1and0(loadcharacteristicsmeasurement).
10 to 9
Gain
switching

setup
Selectthegainswitchingrelatedparametertobeusedwhenthereal
time auto tuning is enabled.
Setup value Function
[0] Use the current setup.
1 Disablegainswitching.
2 Enablegainswitching.
*
 Tosetthissettingtoavalueotherthan0,setBits3-2(Inertiaratio
update)to1(enable).Inertiaratioisenabled/disabledbythesetting
ofBits1and0(loadcharacteristicsmeasurement).
Caution
Thisparametershouldbesetupbitbybit.Topreventsettingerror,useofthesetupsupport
softwareisrecommendedwheneditingparameter.
Donotchangethisparameterwhilethemotorisrunning.Updatedparameterswillbe
effectivewhenthemotorstopsaftertheresultofloadcharacteristicsmeasurementis
conrmed.
<Setupprocedureofbitwiseparameter>
Whensettingparametertoavalueotherthan0,calculatethesetupvalueofPr6.32inthe
followingprocedure.
1)IdentifytheLSBofthesetup.
 Example:LSBofthetorquecompensationfunctionis4.
2)Multiplythesetupvaluebypowerof2(LSB).
Example:Tosetthetorquecompensationfunctiontofrictioncompensation(middle):
2
4
×4=64.
3) Performsteps1)and2)foreverysetups,sumupthevalueswhicharetobePr6.32setupvalue.
Example:Loadcharacteristicsmeasurement=enable,inertiaratioupdate=enable,
torquecompensation=frictioncompensation(middle),stiffnesssetup=enable,
xedparameter=settoaxedvalue,gainswitchingsetup=enable,then,
2
0
×1+2
2
×1+2
4
×4+2
7
×1+2
8
×1+2
9
×2=1477
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