Panasonic MINAS A6 Series - Page 316

5-24
2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Synchronous type
Class No.
Title Function
6 23
Load uctuation
compensation gain
When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, sets to 90%.
When set to Pr 6.10 bit14=0, set to 0%.
6 24
Load uctuation
compensation lter
When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, updates to match rigidity.
When set to Pr 6.10 bit14=0, value is held.
6 73 Load estimation lter
When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, set to 0 ms.
6 74
Torque compensation
frequency 1
Regardless value of the Pr 6.10 bit 14, sets to 0.
6 75
Torque compensation
frequency 2
Regardless value of the Pr 6.10 bit 14, sets to 0.
6 76 Load estimate numbers
When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, sets to 4.
When set to Pr 6.10 bit14=0, set to 0.
In case Pr 0.02 “Real-time automatic tuning mode setting” = 6, (load fluctuation
response mode), the setting will be changed to the following.
Class No. Title Function
6 10 Function expansion setup
Load uctuation suppression function always
become enabled (bit1 = 1)
6 23
Load uctuation
compensation gain
Sets to 100%.
6 24
Load uctuation
compensation lter
Updates to match rigidity.
6 73 Load estimation lter Sets to 0.13 ms.
6 74
Torque compensation
frequency 1
Updates to match rigidity.
6 75
Torque compensation
frequency 2
Updates to match rigidity.
6 76 Load estimate numbers Sets to 4.
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