Panasonic MINAS A6 Multi Series Technical Reference page 105

5.1Automatic adjusting function
Parameter changed by Real-time auto tuning
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 value.
 Relevant parameters
Class No. Attribute
0 04 B
6 08 B
6 09 B
6 50 B
The Real-time auto tuning function updates the following basic gain setup parameters according to
Pr0.03 "Real-time auto-tuning machine stiffness setup". For details, refer to "Basic gain parameter setup
table".
 Relevant parameters
Class No. Attribute
1 00 B
1 01 B
1 02 B
1 04 B
1 05 B
1 06 B
1 07 B
1 09 B
6 48 B
5-21
Title Range
Inertia ratio 0 to
10000
Positive direction -100 to
100
torque Compensation
Value
Negative direction -100 to
torque compensation 100
value
Viscous friction 0 to
compensating gain 10000
Title Range
1st gain of position 0 to
loop 30000
1st gain of velocity 1 to
loop 32767
1st time constant of 1 to
velocity loop 10000
integration
1st time constant of 0 to 2500
torque filter
2nd gain of position 0 to
loop 30000
2nd gain of velocity 1 to
loop 32767
2nd time constant of 1 to
velocity loop 10000
integration
2nd time constant of 0 to 2500
torque filter
Adjust filter 0 to 2000
Unit Function
% Updates this parameter in the case of the synchronization
mode (Pr0.02=1), synchronous friction compensation mode
(Pr0.02=2) and load characteristic update mode (Pr0.02=4)
for Real-time auto tuning.
% Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
% Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
0.1%/ Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
(10000r/
characteristic update mode (Pr0.02=4) for Real-time auto
min)
tuning.
Unit Function
0.1/s In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.1 Hz In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.1 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.01 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.1/s In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.1 Hz In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.1 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.01 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
0.1 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.