Panasonic MINAS A6 Multi Series Technical Reference page 88

Class No. Attribute
0 03 B
6 10 B
6 31 B
6 32 B
 Real time auto tuning custom setup
Bit Content
1 to 0 Load characteristics estimation
(Note 1)(Note 2)
3 to 2 Inertia ratio update
(Note 3)
6 to 4 Torque compensation
(Note 4)
(To be continued)
Title Range
Real-time 0 to 31
auto-tuning
machine stiffness
setup
Function expansion -32768
setup to 32767
Real time auto 0 to 3
tuning estimation
speed
Real time auto -32768
tuning custom to 32767
setup
Description
Enable/disable the load characteristics estimation function.
Setup value Description
0
1
Set up update to be made based on result of the load characteristics estimation of Pr
0.04 "Inertia ratio".
Setup value Description
0
1
Set up the update to be made according to the results of load characteristics
estimation:
Pr 6.07 "Torque command additional value"
Pr 6.08 "positive direction torque compensation value"
Pr 6.09 "negative direction torque compensation value".
Setup value Description
0
1
2
3
4
5
Unit Function
- You can set up the response while the real-time auto-gain tuning
is valid. Higher the setup value, higher the velocity response and
servo stiffness will be obtained. However, when increasing the
value, check the resulting operation to avoid oscillation or
vibration.
- The automatic adjustment of load change inhibit function is
enabled with bit14=1.
Set up the load characteristics estimation speed with the
Real-time auto tuning being valid. A higher setup value assures
faster response to a change in load characteristics but increases
variations in disturbance estimation. Result of estimation is saved
to EEPROM every 30 minutes.
Setup
Mode
value
0 No change
1 Almost
constant
2 Slower
change
3 * Faster
change
If the automatic oscillation detection is enabled by the support
software, the setup value 3 is used.
- When the operation mode of real time auto tuning is set to the
customize (Pr 0.02 = 6), set the automatic adjusting function as
shown below.
Real time auto tuning custom setup
Disable
Enable
Use current setup
Update by the estimated value.
Use current setup
Disable torque compensation.
Clear the parameters shown above to 0.
Vertical axis mode
Update Pr 6.07.
Zero clear Pr 6.08 and Pr 6.09
Friction compensation (low)
Update Pr 6.07. Set low compensation to Pr 6.08 and Pr 6.09.
Friction compensation (middle)
Set middle compensation to Pr 6.08and Pr.6.09
Friction compensation (high)
Set high compensation to Pr 6.08 and Pr 6.09.
Auto Tuning Functions
Description
Stop estimation of load characteristics.
Response to changes in load characteristics
in every minute.
Response to changes in load characteristics
in every second.
Obtain best suitable estimation in response to
changes in load characteristics.
5-4