Panasonic MINAS A6 Series Operating Instructions Manual page 276

1. Details of parameter
[Class 6] Special setting
Pr6.32
Real time auto tuning custom setup
When the operation mode of real time auto tuning is set to the customize (Pr0.02 = 6), set
the automatic adjusting function as shown below.
When the two-degree-of-freedom control mode is set , use with Pr6.32 = 0.
Bit
1 to 0
3 to 2
6 to 4
(continued)
Note
• A parameter is designated as follows:
• For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
Related page
• P.3-32... "Inputs and outputs on connector X4"
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4-74
Content
Enable/disable the load characteristics estimation function.
Setup value
[0]
1
Load char- * If the load characteristics estimation is disabled, the current setup
acteristics
cannot be changed even if the inertia ratio is updated according to
*
estimation
the estimated value. When the torque compensation is updated by
the estimated value, it is cleared to 0 (invalid).
* To enable the load characteristics measurement, set Pr6.31 Real
time auto tuning estimation speed to a value other than 0 (stop
estimation).
Set up update to be made based on result of the load characteristics
estimation of Pr0.04 Inertia ratio.
Setup value
Inertia ratio
[0]
update
1
* To enable the inertia ratio update, set Bits 1-0 (load characteristic
measurement) to 1 (enable). The inertia ratio will not be updated
unless both settings are made valid.
Set up the update to be made according to the results of load
characteristics estimation of Pr6.07 Torque command additional
value, Pr6.08 positive direction torque compensation value and Pr6.09
negative direction torque compensation value.
Setup value
[0]
1
Torque
2
compensation
3
4
5
* To enable the torque compensation (set to 2-5), set Bits 3-2 (Inertia
ratio update) to 1 (enable). It is not possible to update only the
torque compensation.
Range
−32768 to 32767
Description
Function
Disable
Enable
Function
Use the current setup.
Update by the estimated value.
Function
Use current setup
Disable torque compensation 0 clear
Vertical axis mode
Friction compensation
(low)
Friction compensation
(middle)
Friction compensation
(high)
Pr0.00 Parameter No.
Class
Default: [ ]
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 Low Low
Update Middle Middle
Update High High