Panasonic MINAS A6 Multi Series Technical Reference page 86

5.1 Automatic adjusting function
The figure below shows outline of automatic adjusting function of MINAS A6 Multi series.
 Real-time auto tuning
Estimates the load characteristics based on the motor velocity and torque command, and automatically
sets up the basic gain related to position and velocity control, based on estimated inertia. Also estimates
the friction torque at the same time and adds the estimated value to the torque command to shorten
positioning settling time.
 Adaptive filter
Estimates the resonance frequency based on the motor velocity and removes the frequency
components from torque command to prevent resonant oscillation.
5.1.1 Real-time auto tuning
The system estimates the load characteristics in real time, and automatically performs basic gain setting
and friction compensation by referring to stiffness parameter.
For the 2 degrees of freedom control mode, refer to section "5.1.3Real-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)".
Applicable range
This function operates under the following conditions.
Real-time auto-tuning condition:
 Specific Real-time auto tuning mode is selected according to the currently active control mode. For details, refer to
Control Mode
the description of Pr 0.02 Real-time auto tuning setup.
 Should be in servo-on condition
Others
 Parameters except for controls such as torque limit setup, are correctly set, assuring that the motor can run
smoothly.
Auto Tuning Functions
5-2