Related Page - Panasonic MINAS A6 Series Operating Instructions Manual

2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Standard type
How to Operate
1) Bring the motor to stall (Servo-off).
2) Set up Pr0.02 (Setup of real-time auto-gain tuning mode) to other than 0, 6.
Setup
value
Control parameter is automatically set according to Pr0.03 Real-time auto-tuning stiff-
ness setup.
[Example of real-time auto-tuning setup]
1) When performing adjustment focusing on settling time by using PTP control.
It is recommended to use quick response mode (Pr0.02 = 2-4). When friction has large
effect, use quick response mode 3 (Pr0.02 = 4).
The 3rd gain of quick response mode 2 and 3 (Pr0.02 = 3-4) should be doubled for a
short time to damp vibration during settling.
If Pr0.03 (stiffness setting) is too high, it may cause oscillation during settling time. Ob-
serve the settled waveform.
2) When locus accuracy is necessary in CP control of machine e.g. processing machine,
use the standard mode (Pr0.02 = 1) or quick response mode 1 (Pr0.02 = 2) if higher
accuracy is required.
When 2 or more axes must be synchronized together, coordinate the stiffness setting
(Pr0.03) so that Pr2.22 (command smoothing filter) of all axes have the same value.
Note
• While the auto-tuning is valid, parameters that are to be automatically adjusted cannot be
changed.

Related page

• P.2-109 "EEPROM Writing Mode" • P.4-6 to P.4-85... "Details of parameter"
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5-12
Real-time auto-gain
tuning
0 Invalid
Standard response
1
mode
Quick response
2
mode 1
Quick response
3
mode 2
Quick response
4
*1
mode 3
Load characteristic
5
measurement
6 Fit gain mode
Explanation
Real-time auto-gain tuning function is disabled.
Stability-first mode. Do not use unbalanced load
compensation, friction compensation or gain switching.
Positioning-first mode. Use this mode for equipment with
horizontal axis, low friction ball screw driving and without
unbalanced load.
In addition to the features provided with the Quick
response mode 1, use this mode to compensate
unbalanced load, to apply third gain to reduce variation in
positioning settling time.
In addition to the features provided with the Quick
response mode 2, use this mode to shorten positioning
settling time when the load has high friction.
Estimate load characteristics without changing basic gain
setting or friction compensation setting with the help of
the setup support software.
To be used for fine adjustment of rigidity setting after
completion of fit gain.