Panasonic MINAS A6 Multi Series Technical Reference page 107

5.1Automatic adjusting function
Class No. Attribute
1 21 B
1 22 B
1 23 B
1 24 B
1 25 B
1 26 B
1 27 B
In case Pr 0.02 "Real-time auto-gain tuning setup" = 1 to 3, 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
5-23
Title Range
Delay time of velocity 0 to
control switching 10000
Level of velocity 0 to
control switching 20000
Hysteresis at velocity 0 to
control switching 20000
Mode of torque control 0 to 3
switching
Delay time of torque 0 to
control switching 10000
Level of torque control 0 to
switching 20000
Hysteresis at torque 0 to
control switching 20000
Title Range
Function expansion -32768 to
setup 32767
Load change -100 to
compensation gain 100
Load change 10 to
compensation 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 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).
- 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 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).
- 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).
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.