Panasonic MINAS A6 Multi Series Technical Reference page 134

 Load variation stabilization setting (There is load inertia variation, assumed an articulated robot,
etc.)
1. Turn ON the control power in two-degree-of-freedom position control (synchronization
type) (Pr. 0.01=0, Pr. 6.47 bit0=1 bit3=1).
2. Set the command response filter (Pr. 2.22) to 10ms.
3. Set Real-time auto tuning to load variation support mode, and operate the motor in a
pattern as large as possible load variation occurs in this state. As a result, Pr6.10 bit1 and
bit2 becomes 1.
4. Set the stiffness setting (Pr. 0.03) as large as possible.
5. Set the command response filter to appropriate value to continue to derease while
checking response of the motor. In case of need to the multi-axis trajectory control, change
all axes Pr2.22 to the same value and adjust.
Auto Tuning Functions
5-50