Panasonic MINAS A6 Multi Series Technical Reference page 106

Real-time auto tuning function sets the following parameters to the fixed value.
 Relevant parameters
Class No. Attribute
1 03 B
1 08 B
1 10 B
1 11 B
1 12 B
1 13 B
6 7 B
6 10 B
6 49 B
The Real-time automatic tuning sets the following parameters or uses the current settings, depending
on Pr0.02 "Real-time auto-gain tuning setup".
 Relevant parameters
Class No. Attribute
1 14 B
1 15 B
1 16 B
1 17 B
1 18 B
1 19 B
1 20 B
(To be continued)
Title Range
1st filter of velocity 0 to 5
detection
2nd filter of velocity 0 to 5
detection
Velocity feed forward 0 to 4000
gain
Velocity feed forward 0 to 6400
filter
Torque feed forward 0 to 2000
gain
Torque feed forward 0 to 6400
filter
Torque command -100 to
additional value 100
Function expansion -32768 to
setup 32767
Adjust/Torque 0 to 99
command attenuation
term
Title Range
2nd gain setup 0 to 1
Mode of position 0 to 10
control switching
Delay time of position 0 to
control switching 10000
Level of position 0 to
control switching 20000
Hysteresis at position 0 to
control switching 20000
Position gain 0 to
switching time 10000
Mode of velocity 0 to 5
control switching
Unit Function
- 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), set the parameter
to 0.
- 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), set the parameter
to 0.
0.1 % 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), set the parameter
to 1000 (100%).
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), set the parameter
to 0 (invalid).
0.1 % 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), set the parameter
to 1000 (100%).
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), set the parameter
to 0 (invalid).
% In the case of the synchronous friction compensation mode
(Pr0.02=2) or load characteristic update mode (Pr0.02=4),
set the parameter to 0.
- 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), set the parameter
to bit4=1.
- 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), set the tenths digit
to 1 and maintain the unit digit.
Unit Function
- Sets to 1 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
- Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
0.1 ms Sets to 10 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
- Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
- Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
0.1 ms Sets to 10 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
- Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
Auto Tuning Functions
5-22