Panasonic MINAS A6 Multi Series Technical Reference page 90

Parameters changed by real-time auto-gain tuning
The Real-time auto tuning function updates the following parameters according to Pr 0.02 "Real-time
auto tuning setup" and Pr 6.32 "Real time auto tuning custom setup" and by using the load characteristic
estimate values.
 Relevant parameters
Class No. Attribute
0 04 B
6 07 B
6 08 B
6 09 B
The Real-time auto tuning function updates the following basic gain setup parameters according to
Pr0.03 "Real-time auto tuning machine stiffness setup". For details, refer to "Basic gain parameter setup
tableBasic gain parameter setup tableBasic gain parameter setup table".
 Relevant parameters
Class No. Attribute
1 00 B
1 01 B
1 02 B
1 04 B
1 05 B
1 06 B
1 07 B
1 09 B
Real-time auto tuning function sets the following parameters to the fixed value.
 Relevant parameters
Class No. Attribute
1 03 B
1 08 B
1 10 B
1 11 B
1 12 B
1 13 B
Title Range
Inertia ratio 0 to
10000
Torque command -100 to
additional value 100
Positive direction -100 to
Torque Compensation 100
Value
Negative direction -100 to
torque compensation 100
value
Title Range
1st gain of position 0 to
loop 30000
1st gain of velocity 1 to
loop 32767
1st time constant of 1 to
velocity loop 10000
integration
1st time constant of 0 to 2500
torque filter
2nd gain of position 0 to
loop 30000
2nd gain of velocity 1 to
loop 32767
2nd time constant of 1 to
velocity loop 10000
integration
2nd time constant of 0 to 2500
torque filter
Title Range
1st filter of velocity 0 to 5
detection
2nd filter of velocity 0 to 5
detection
Velocity feed forward 0 to 1000
gain
Velocity feed forward 1 to 6400
filter
Torque feed forward 0 to 1000
gain
Torque feed forward 1 to 6400
filter
Unit Function
% Updates this parameter when the Real-time auto tuning
inertia ratio update is enabled.
% Update this parameter when the vertical axis mode for
Real-time auto tuning is valid.
%
Update this parameter when the friction compensation mode
for Real-time auto tuning is valid.
%
Unit Function
0.1/s
0.1 Hz
0.1 ms
0.01 ms
When stiffness setup is valid, updates the parameter based
on the setup value.
0.1/s
0.1 Hz
0.1 ms
0.01 ms
Unit Function
-
When fixed parameter setup is valid, set the parameter to
0.
-
0.1 % When fixed parameter setup is valid, set the parameter to
300 (30%).
0.01 ms When fixed parameter setup is valid, set the parameter to
50 (0.5 ms).
0.1 %
When fixed parameter setup is valid, set the parameter to
0.
0.01 ms
Auto Tuning Functions
5-6