Panasonic MINAS A6 Multi Series Technical Reference page 181

Class No. Attribute Title
5 77 A
5 78 A
6 97 B
Cautions
 When the upper limit value is set to the maximum value, the upper limit judgment will become invalid.
 When the lower limit value is set to the minimum value, the lower limit judgment will become invalid.
 In case upper limit value ≤ lower limit value, then both the upper limit and lower limit judgment will become
invalid.
Due to the USB, EoE communication delay, the average torque command value acquired via USB, EoE may differ
from the actual value inside the driver module (0 may be displayed even when the actual value is not 0.).
Contents
Deterioration diagnosis warning functions for the following five types of data can be used by setting bit
1 of Pr6.97 "Function expansion setup 3" to 1.
(1) Inertia ratio
(2) Unbalanced load
(3) Dynamic friction
(4) Viscous friction
(5) Torque command average value
 Deterioration diagnosis warning for load characteristic estimates (Inertia ratio, Unbalanced load,
Dynamic friction, Viscous friction)
 Deterioration diagnosis warning judgment for four load characteristics estimates (inertia ratio, unbalanced
load, dynamic friction, and viscous friction coefficient) can be used in case real-time auto tuning load
characteristics estimate is valid.
Refer to items "5.1.1 Real-time auto tuning", "5.1.3 Real-time auto tuning (Two-degree-of-freedom control
mode standard type)", "5.1.4 Real-time auto tuning (Two-degree-of-freedom control mode synchronization
type)".
 The abovementioned deterioration diagnosis warning judgment will become effective when the required
operational conditions for load characteristics estimate has continued in total for Pr5.66 "deterioration
diagnosis convergence judgment time" or more, and the load characteristics estimate has converged. Once it
has become effective, it will remain in effect until Pr6.97 bit 1 is set to 0 (invalid) or the Real-time auto tuning
load characteristics estimate is invalidated.
 For each load characteristics estimate value, its upper and lower limit value can be set by the parameters as
indicated in the following table. In case the load characteristic estimates has exceeded the upper or lower
limit values for changes in load characteristics estimate, it generates deterioration diagnostic warning
WngAC.
(1) Inertia ratio
Upper limit value Pr5.67
Lower limit value Pr5.68
Set resolution for the upper and lower limit of friction torque estimates (unbalanced load, dynamic friction,
-
and viscous friction coefficient) shall be in units of 0.2%.
In case Pr6.31 "Real time auto tuning estimation speed" is set to 0 and is estimate stopped from the start
-
or before the load characteristics estimate results has been confirmed, deterioration diagnosis warning
judgment will become invalid even if Real-time auto tuning load characteristics estimate is valid.
Range
Deterioration diagnosis -1000 to 1000
torque upper limit value
Deterioration diagnosis
torque lower limit value
Function expansion -2147483648
setup 3 to 2147483647
(2) Unbalanced load
Pr5.69
Pr5.70
Unit Function
0.1% Sets the upper and lower limit values of torque command
average value when deterioration diagnosis warning is
valid (Pr6.97 bit 1 = 1) and deterioration diagnosis
velocity output (V-DIAG) is ON.
- Bit 1 to set the deterioration diagnosis warning function to
valid or invalid.
0: Invalid
1: Valid
(3) Dynamic friction
Pr5.71
Pr5.72
Application Functions
(4) Viscous friction
Pr5.73
Pr5.74
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