Panasonic MINAS A6 Multi Series Technical Reference page 100

Class No. Attribute
6 05 B
6 06 B
When Pr0.02 "Real-time auto-gain tuning setup" = 1 to 4 or 6, the following settings and parameters are
set automatic for enable/disable state of Pr 6.10 "Function expansion setup" load variation suppression
function automatic adjustment.
 Relevant parameters
Class No. Attribute
6 10 B
6 23 B
6 24 B
6 73 B
6 74 B
6 75 B
6 76 B
How to use
When Pr 0.02 (Setup of real-time auto-gain tuning mode) is set to a value other than 0, control
parameter is automatically set according to Pr0.03 "Real-time auto tuning machine stiffness setup".
When the servo is ON, enter operation command after about 100ms. When the load characteristic is
correctly estimated, Pr 0.04 "Inertia ratio" is updated. With certain mode settings, Pr 6.07 "Torque
command addition value", Pr 6.08 "Positive direction compensation value", Pr6.09 "Negative direction
torque compensation value", and Pr6.50 "Viscous friction compensating gain." will be changed.
When value of Pr0.03 "Real-time auto tuning machine stiffness setup" is increased, the motor
responsiveness will be improved. Determine the most appropriate stiffness in relation to the positioning
setup time and vibration condition.
Title Range
Position 3rd gain valid 0 to
time 10000
Position 3rd gain 50 to
scale factor 1000
Title Range
Function expansion -32768 to
setup 32767
Disturbance torque -100 to
compensating gain 100
Disturbance 10 to
observer filter 2500
Load estimation 0 to 2500
filter
Torque 0 to 5000
compensation
frequency 1
Torque 0 to 5000
compensation
frequency 2
Load estimation 0 to 8
count
Unit Function
0.1 ms For the standard response mode or high response mode 1
(Pr0.02=1, 2), set the parameter to 0 (invalid).
For high response mode 2 or 3 (Pr0.02=3,4), set the
parameter to "Pr2.22 x 20".
(However, the maximum value is limited to 10000.)
% For the standard response mode or high response mode 1
(Pr0.02=1,2), set the parameter to 100 (100%).
For high response mode 2 or 3 ((Pr0.02=3,4), set the
parameter to 200 (200%).
Unit Function
- When set to Pr 6.10 bit14=1, load variation suppression
function will become enabled (bit1 = 1).
When set to Pr 6.10 bit14=0,it is disabled(bit1 = 0).
% When set to Pr 6.10 bit14=1, sets to 90 %.
When set to Pr 6.10 bit14=0, sets to 0 %.
0.01 ms When set to Pr 6.10 bit14=1, updates to match rigidity.
When set to Pr 6.10 bit14=0, value is held.
0.01 ms When set to Pr 6.10 bit14=1, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, sets to 0 ms.
0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
- When set to Pr 6.10 bit14=1, sets to 4.
When set to Pr 6.10 bit14=0, sets to 0.
Auto Tuning Functions
5-16