Panasonic MINAS A6 Multi Series Technical Reference page 97

5.1Automatic adjusting function
Parameters controlling operation of real-time auto tuning
Configure the Real-time auto tuning operation by setting the following parameters.
 Relevant parameters
Class No. Attribute
0 02 B
0 03 B
6 10 B
6 31 B
6 32 B
5-13
Title Range
Real-time auto-gain 0 to 6
tuning setup
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
Unit Function
- Specifies the operation mode of Real-time auto tuning.
Setup
Mode
value
0, 6 Invalid
1 Standard
response mode
2 High response
mode 1
3
High response
mode 2
4 High response
mode 3 *
5 Load
characteristic
measurement
6 Fit-gain mode
* In velocity control, it is the same as high response mode 2.
In addition, Parameters of Pr6.08 "Positive direction torque
compensation value", Pr6.09 "Negative direction torque
compensation value" and Pr6.50 "Viscous friction compensation
gain" are updated, but not reflected in the operation.
- Specifies the response for enabled Real-time auto tuning. A
larger setting increases the speed response and servo stiffness
but invites more vibration. Gradually increase the setting while
monitoring the operation.
- The automatic adjustment of load change inhibit function is
enabled with bit14=1.
- Specifies the load characteristics estimation speed for enabled
Real-time auto tuning. A larger setting allows faster follow-up to
the variation in the load characteristics but also increases
estimation fluctuation due to disturbance. The result of estimation
is stored in the EEPROM every 30 minutes.
Setup
Mode
value
0 No change
1 Little change
2
Gradual
change
3 * Steep change Appropriate estimation is made against
* If oscillation automatic detection is made valid from setup
support software, this setting is ignored and operation is based
on settings of setting value 3.
- Not available in 2 degrees of freedom control mode.
Always set to 0.
Description
The Real-time auto tuning function is disabled.
The mode for the optimum stability. No
uneven load or friction compensation takes
place and no gain switching is used.
The mode for the optimum positioning. Used
for a ball screw-driven device, etc. with no
uneven load and little friction, as in a
horizontal axis.
In addition to the high responce mode 1,
compensation against biased load and
application of 3rd gain are made to reduce
variations in settling time of positioning.
In addition to the high responce mode 2,
settling time of positioning is reduced for a
load where frictions are high.
Basic gain settings and friction compensation
settings are not changed and load
characteristic estimation only is made. This is
used in combination with setup support
software.
Use this mode to fine-adjust the stiffness
setting after fit-gain has been completed.
Description
Terminates estimation of load characteristic.
Responded against change of load
characteristic on the order of minutes.
Responded against change of load
characteristic on the order of seconds.
change of load characteristic.