Panasonic MINAS A6 Multi Series Technical Reference page 101

5.1Automatic adjusting function
Other cautions
 Strange noises or vibrations may occur on the first action of turning immediately after startup or setting higher
value of Pr0.03 "Real-time auto tuning machine stiffness setup" until estimation of load characteristic
becomes stable. This is not a fault if the function becomes stable soon. If oscillation or continued
generation of abnormal noise through three or more reciprocating movements often occurs, take the
following steps.
(1) Specify lower value for Pr0.03 "Real-time auto tuning machine stiffness setup"
(2) Specify "0" for Pr0.02 "Real-time auto-gain tuning setup" and make Real-time auto tuning invalid.
(3) Specify a theoretical value of device for Pr0.04 "Inertia ratio" and specify "0" for Pr6.07 "Torque command
additional value", Pr6.08 "Positive direction torque compensation value", Pr6.09 "Negative direction
torque compensation value" and Pr6.50 "Viscous friction compensating gain"
 After occurrence of strange noises or vibrations, values of Pr0.04 " Inertia ratio", Pr6.07 "Torque command
additional value", Pr6.08 "Positive direction torque compensation value", Pr6.09 "Negative direction torque
compensation value", or Pr6.50 "Viscous friction compensating gain" may have been changed into extreme
values. If this is the case, take Step (3) above.
 The results of real-time automatic gain tuning, such as Pr0.04 "Inertia ratio," Pr6.07 "Torque command
additional value", Pr6.08 "Positive direction torque compensation value", Pr6.09 "Negative direction torque
compensation value", and Pr6.50 "Viscous friction compensating gain" are written in EEPROM in every 30
minutes. Upon restarting of power, auto tuning is performed using the data for initial values. The results of
real-time auto-gain tuning are not stored if the power is turned off before 30 minutes have elapsed. In this
case, manually write the parameters to the EEPROM before turning off the power.
 The control gain is updated when the motor is stopped. Therefore, if motor is not stopped because gain is
excessively low or commands are given continually in one direction, the change in Pr0.03 "Real-time auto
tuning machine stiffness setup" may not be reflected. In this case, abnormal sound or oscillation may be
generated depending on the stiffness setting that is reflected after the motor stops.
After the stiffness setting is changed, be sure to stop the motor and check that the stiffness setting is reflected
before performing next operation.
 When Real-time auto tuning is enabled under two-degree-of-freedom control mode, torque feed forward is
disabled (equivalent to Pr1.12=0) regardless of the setting value in Pr1.12 "Torque feed forward gain." The
state in which it operates with torque feed forward disabled will continue until the next operation is executed.
Set Pr1.12 to a value other than the current parameter (1000) after switching Real-time auto tuning from
-
enabled to disabled.
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