Panasonic MINAS A6 Series Operating Instructions Manual page 314

2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Synchronous type
Parameters set/changed by real-time auto-gain tuning
• Parameters which are updated
The real-time auto-tuning function updates the following parameters according to
Pr0.02 Real-time auto-tuning setup by using the load characteristic estimate values.
Class No.
0
6
6
6
• Parameters which are updated to setup value corresponding to stiffness setup
The real-time auto-tuning function updates the following basic gain setup parameters
according to Pr0.03 Real-time auto-tuning stiffness setup.
Class No.
1
1
1
1
1
1
1
1
6
• Parameters which are set to fixed value
The real-time auto-tuning function sets the following parameters to fixed values or
uses the current setup values.
Class No.
1
1
1
1
1
1
2
6
6
6
*1 If noise generates, change the setting to appropriate value (e.g. 3 ms = setup value: 30).
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5-22
Title
04 Inertia ratio
Positive direction torque compen-
08
sation value
Negative direction torque compen-
09
sation value
50 Viscous friction compensation gain
Title
00 1st gain of position loop
01 1st gain of velocity loop
1st time constant of velocity loop
02
integration
04 1st time constant of torque filter
05 2nd gain of position loop
06 2nd gain of velocity loop
2nd time constant of velocity loop
07
integration
09 2nd time constant of torque filter
48 Adjust filter
Title
03 1st filter of speed detection
08 2nd filter of speed detection
10 Velocity feed forward gain
11 Velocity feed forward filter
12 Torque feed forward gain
13 Torque feed forward filter
22 Command smoothing filter
07 Torque command additional value
10 Function expansion setup
49 Adjust/Torque command attenuation term
Function
In the synchronous mode (Pr0.02 = 1),
synchronous friction compensation mode
(Pr0.02 = 2) and load characteristic update
mode (Pr0.02 = 4), this parameter will be
updated.
In the synchronous friction compensation
mode (Pr0.02 = 2) and load characteristic
update mode (Pr0.02 = 4), this parameter
will be updated.
Function
When real-time auto-tuning is valid (Pr0.02
= 1-4), updates the setup value according to
the stiffness.
Refer to P.5-9 Basic gain parameter setup
table.
In the synchronous mode, synchronous
friction compensation mode and stiffness
setup mode (Pr0.02 = 1-3), the setting will
be updated according to stiffness.
Setup value when fixed parameter
setup is valid.
0
1000 (100 %)
0
1000 (100 %)
0
Holds the current setup value.
0
bit4=1
Tens digit set as 1 and ones digit is
kept as is.
*1