Panasonic MINAS A6 Multi Series Technical Reference page 91

5.1Automatic adjusting function
The Real-time auto tuning function sets the following parameters as the gain is switched.
 Relevant parameters
Class No. Attribute
1 14 B
1 15 B
1 16 B
1 17 B
1 18 B
1 19 B
1 20 B
1 21 B
1 22 B
1 23 B
1 24 B
1 25 B
1 26 B
1 27 B
The following settings are always set to invalid when Pr 0.02 "Real-time auto tuning setup" is not 0.
However, the parameter settings are not changed.
 Relevant parameters
Class No. Attribute
6 10 B
6 23 B
6 24 B
6 73 B
6 74 B
6 75 B
6 76 B
5-7
Title Range
2nd gain setup 0 to 1
Mode of position 0 to 10
control switching
Delay time of position 0 to
control switching 10000
Level of position 0 to
control switching 20000
Hysteresis at position 0 to
control switching 20000
Position gain 0 to
switching time 10000
Mode of velocity 0 to 5
control switching
Delay time of velocity 0 to
control switching 10000
Level of velocity 0 to
control switching 20000
Hysteresis at velocity 0 to
control switching 20000
Mode of torque control 0 to 3
switching
Delay time of torque 0 to
control switching 10000
Level of torque control 0 to
switching 20000
Hysteresis at torque 0 to
control switching 20000
Title Range
Function expansion 0 to 1023
setup
Load change -100 to
compensation gain 100
Load change 10 to
compensation filter 2500
Load estimation 0 to 2500
filter
Torque 0 to 5000
compensation
frequency 1
Torque 0 to 5000
compensation
frequency 2
Load estimation 0 to 8
count
Unit Function
- Sets to 1 if the current setting is not maintained
- Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
0.1 ms Sets to 50 if the current setting is not maintained.
- Sets to 50 if the current setting is not maintained.
- Sets to 33 if the current setting is not maintained.
0.1 ms Sets to 33 if the current setting is not maintained.
- Sets to 0 if the current setting is not maintained.
0.1 ms Sets to 0 if the current setting is not maintained.
- Sets to 0 if the current setting is not maintained.
- Sets to 0 if the current setting is not maintained.
- Sets to 0 if the current setting is not maintained.
0.1 ms Sets to 0 if the current setting is not maintained.
- Sets to 0 if the current setting is not maintained.
- Sets to 0 if the current setting is not maintained.
Unit Function
- Instantaneous velocity observer function enable bit (bit 0),
disturbance observer function enable bit (bit 1) are internally
disabled.
% Parameter setup can be changed, but disturbance observer
is disabled.
0.01 ms Parameter setup can be changed, but disturbance observer
is disabled.
0.01 ms When set to Pr 6.10 bit14=1 in case of stiffness setting is
enabled, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, set to 0 ms.
0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
- When set to Pr 6.10 bit 14=1 in case of stiffness setting is
enabled, sets to 4.