Panasonic MINAS A6 Series - Page 299

5-7
1
Before Using the Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When in Trouble
7
Supplement
• Parameters which are set in response to gain switching setup
The real-time auto-tuning function sets the following parameters as the gain is
switched.
Class No.
Title Function
1 14
2nd gain setup
Sets to 1 if the current setting is not
maintained.
1 15
Mode of position control switching
Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
1 16
Delay time of position control
switching
Sets to 50 if the current setting is not
maintained.
1 17
Level of position control switching
1 18
Hysteresis at position control
switching
Sets to 33 if the current setting is not
maintained.
1 19
Position gain switching time
1 20
Mode of velocity control switching
Sets to 0 if the current setting is not
maintained.
1 21
Delay time of velocity control
switching
1 22
Level of velocity control switching
1 23
Hysteresis at velocity control
switching
1 24
Mode of torque control switching
1 25
Delay time of torque control switching
1 26
Level of torque control switching
1 27
Hysteresis at torque control switching
• Parameters which are always set to invalid.
The following settings are always set to invalid when Pr0.02 Real-time auto-tuning
setup is not 0.
Class No. Title Function
6 10 Function expansion setup
The bit(bit3)for inertia ratio switching function
permission is internally invalidated.
6 13 2nd Inertia ratio
Parameter settings can be changed,but the
inertia ratio switching function is invalidated.
The following settings are parameters are set automatic for enable/disable of Pr6.10
Function expansion setting load variation suppression function automatic adjustment.
Class No. Title Function
6 10 Function expansion setup
When set to Pr6.10 bit14=1in case of stiffness
setting is enabled.load fluctuation suppression
funtion will become enabled(bit1=1).
When set to Pr6.10 bit14=0,it is disabled(bit1=1).
6 23
Load uctuation
compensation gain
When set to Pr6.10 bit4=1 in case of stiffness
setting is enabled,sets to 90%. When set to
Pr6.10 bit14=0,set to 0%.
2. Real-Time Auto-Gain Tuning
Basic
Related page
• P.4-6 to P.4-85... “Details of parameter”
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