Panasonic MINAS A5 Series Operating Instructions Manual page 273

1. Details of parameter
[Class 6] Special setting
Pr6.32 Real time auto tuning custom setup
Bit
1 to 0
3 to 2
6 to 4
compensation
7
8
10 to 9
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Content
Enable/disable the load characteristics estimation function.
Setup value
[0]
Load char-
1
acteristics
*
*
estimation
Set up update to be made based on result of the load characteristics
estimation of Pr0.04 Inertia ratio.
Inertia ratio
Setup value
update
[0]
1
Set up the update to be made according to the results of load
Setup value
[0]
Torque
1
2
3
4
5
Enable/disable the basic gain setup to be made according to Pr0.03
Real time auto tuning mechanical stiffness selection.
Stiffness
Setup value
setup
[0]
1
Setup value
parameter
[0]
setup
1
time auto tuning is enabled.
Gain
Setup value
[0]
setup
1
2
Range
Description
Function
Disable
Enable
Function
Use the current setup.
Function
Use current setup
Disable torque compensation 0 clear
Friction compensation
Friction compensation
Friction compensation
Function
Disable
Enable
Function
Use the current setup.
Function
Use the current setup.
Related
Unit Default
control mode
— 0 P S T F
Compensation setup
Pr6.07 Pr6.08 Pr6.09
0 clear 0 clear
Update 0 clear 0 clear
Update
Update Middle Middle
Update High High
4-57
1
2
3
4
5
6
7