Panasonic MINAS A6 Multi Series Technical Reference page 93

5.1Automatic adjusting function
Basic gain parameter setup table
1st gain
Stiffness
Pr 1.00 Pr 1.01
Position Velocity
[0.1/s] [0.1 Hz]
0 20 15
1 25 20
2 30 25
3 40 30
4 45 35
5 55 45
6 75 60
7 95 75
8 115 90
9 140 110
10 175 140
11 320 180
12 390 220
13 480 270
14 630 350
15 720 400
16 900 500
17 1080 600
18 1350 750
19 1620 900
20 2060 1150
21 2510 1400
22 3050 1700
23 3770 2100
24 4490 2500
25 5000 2800
26 5600 3100
27 6100 3400
28 6600 3700
29 7200 4000
30 8100 4500
31 9000 5000
(Note 1) In the vertical axis mode or friction compensation mode (Pr0.02=3,4), Pr1.07 is kept at 9999 until load characteristic estimation is
completed.
5-9
2nd gain
Pr 1.02 Pr 1.04 Pr 1.05
Velocity loop
Torque Position
integration
[0.01 ms] [0.1/s]
[0.1 ms]
3700 1500
2800 1100
2200 900
1900 800
1600 600
1200 500
900 400
700 300
600 300
500 200
400 200
310 126
250 103
210 84
160 65
140 57
120 45
110 38
90 30
80 25
70 20
60 16
50 13
40 11
40 9
35 8
30 7
30 7
25 6
25 6
20 5
20 5
Pr 1.07
Pr 1.06
(Note 1)
Velocity loop
Velocity
integration
[0.1 Hz]
[0.1 ms]
25 15 10000
30 20 10000
40 25 10000
45 30 10000
55 35 10000
70 45 10000
95 60 10000
120 75 10000
140 90 10000
175 110 10000
220 140 10000
380 180 10000
460 220 10000
570 270 10000
730 350 10000
840 400 10000
1050 500 10000
1260 600 10000
1570 750 10000
1880 900 10000
2410 1150 10000
2930 1400 10000
3560 1700 10000
4400 2100 10000
5240 2500 10000
5900 2800 10000
6500 3100 10000
7100 3400 10000
7700 3700 10000
8400 4000 10000
9400 4500 10000
10500 5000 10000
For load
fluctuation
suppression
function
Pr 1.09 Pr 6.24
Load fluctuation
Torque
compensation filter
[0.01 ms]
[0.01/ms]
1500 2500
1100 2500
900 2500
800 2500
600 2500
500 2500
400 2500
300 2120
300 1770
200 1450
200 1140
126 880
103 720
84 590
65 450
57 400
45 320
38 270
30 210
25 180
20 140
16 110
13 90
11 80
9 60
8 60
7 50
7 50
6 40
6 40
5 40
5 40