Setup Value [0] - Panasonic MINAS A6 Series Operating Instructions Manual

2. Real-Time Auto-Gain Tuning
Two-degree-of-freedom control mode – Synchronous type
• Parameters which are set in respons to gain switching setup
The real-time auto-tuning function sets the following parameters according to Pr0.02
Real-time auto-tuning setup, or uses current setup values.
Class No.
1 14
1 15
1 16
1 17
1 18
1 19
1 20
1 21
1 22
1 23
1 24
1 25
1 26
1 27
6 05
6 06
• Parameters which are always set to invalid
The following settings are always set to invalid when Pr0.02 Real-time auto-tuning
setup is not 0. Note that setup values of parameters remain unchanged.
Class No.
6 10
6 13
The following settings and parameters are set automatic for enable/disable state of
Pr 6.10 "Function expansion setting" load variation suppression function automatic
adjustment.
Class No.
6 10
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Title
2nd gain setup
Mode of position control switching
Delay time of position control switching
Level of position control switching
Hysteresis at position control switching
Position gain switching time
Mode of velocity control switching
Delay time of velocity control switching
Level of velocity control switching
Hysteresis at velocity control switching
Mode of torque control switching
Delay time of torque control switching
Level of torque control switching
Hysteresis at torque control switching
Position 3rd gain valid time
Position 3rd gain scale factor
Title
Function expansion setup
2nd Inertia ratio
Title
Function expansion setup
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 1.
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 0.
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 10.
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 0.
In the synchronous mode, synchronous
friction compensation mode or stiffness
setup mode (Pr0.02 = 1 to 3), sets to 10.
Sets to 0 if real-time auto-tuning is valid
(Pr0.02 = 1 to 4).
When the real-time auto-tuning remains
valid (Pr0.02 = 1 to 4), uses the current
setup value.
Function
Instantaneous speed observer function enable bit (bit
0), disturbance observer function enable bit (bit 1)
and inertia ratio switching function enable bit (bit 3)
are internally disabled.
Parameter setup can be changed, but inertia ration
switching function is disabled.
Function
When set to Pr 6.10 bit14=1 in case of stiffness
setting is enabled, load variation suppression
function will become enabled (bit1 = 1).
When set to Pr 6.10 bit14=0,it is disabled(bit1 = 1).
Function
5-23
1
2
3
4
5
6
7