Panasonic MINAS A6 Series - Page 300

5-8
Class No.
Title Function
6 24
Load uctuation
compensating lter
When set to Pr6.10 bit14=1 in case of stiffness
setting is enabled.updates to match rigidity.
When set to Pr6.10 bit14=0,value is held.
6 73 load estimation lter
When set to Pr6.10 bit14=1 in case of stiffness
setting is enabled.ses to 0.13 ms.When set to
Pr6.10 bit14=0,set to 0 ms.
6 74
Torque compensating
frequency 1
Regardless value of the Pr6.10 bit14,sets to 0.
6 75
Torque compensating
frequency 2
Regardless value of the Pr6.10 bit14,sets to 0.
6 76 Load estimate numbers
When set to Pr6.10 bit14=1 in case of stiffness
setting is enabled,sets to 4.
When set to Pr6.10 bit14=0,set to 0.
Caution
(1) Immediately after the rst servo-on upon start up; or after increasing Pr0.03
Real-time auto-tuning stiffness setup, abnormal sound or oscillation may be gener-
ated until the load characteristics estimation is stabilized. If such abnormality lasts or
repeats for 3 or more reciprocating operations, take the following countermeasures.
1) Lower the setup of Pr0.03 (Selection of machine stiffness at real-time auto-gain
tuning).
2) Set Pr0.02 Real-time auto-tuning setup to 0 to disable the real-time auto-tuning.
3) Set Pr0.04 Inertial ratio to the calculational value of the equipment and set Pr6.07
Torque command addition value, Pr6.08 Positive direction compensation value
and Pr6.09 Negative direction compensation value to 0.
4) Disabale load variation suppression function. (bit1=0 after Pr 6.10 bit14=0)
(2) When abnormal noise and oscillation occur, Pr0.04 (Inertia ratio) or Pr6.07 (Torque
command additional value), Pr6.08(Positive direction torque compensation value),
Pr6.09(Negative direction torque compensation value) might have changed to ex-
treme values. Take the same measures as the above in these cases.
(3) Among the results of real-time auto-gain tuning, Pr0.04 (Inertia ratio) and Pr6.07
(Torque command additional value), Pr6.08(Positive direction torque compensation
value), Pr6.09(Negative direction torque compensation value) will be written to EE-
PROM every 30 minutes. When you turn on the power again, the auto-gain tuning will
be executed using the latest data as initial values.
(4) Because the control gain is updated while the motor stops, changed setting value
of Pr0.03 “Real-time auto-tuning stiffness setup” may not be reected if the motor
cannot stop due to excessively low gain or application of a command that directs the
motor to turn in the same direction continuously. If the changed stiffness setting value
is reected after motor stops, it may generate abnormal sound or oscillate.
After changing stiffness, stop the motor and check to see that the new stiffness
setting is made effective.
2. Real-Time Auto-Gain Tuning
Basic
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