Panasonic MINAS A6 Multi Series Technical Reference page 98

Parameter changed by real-time auto tuning
The Real-time auto tuning function updates the following parameters using load characteristic values, in
accordance with Pr0.02 "Real-time auto-gain tuning setup."
 Relevant parameters
Class No. Attribute
0 04 B
6 07 B
6 08 B
6 09 B
6 50 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 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
1 22 B
6 48 B
Title Range
Inertia ratio 0 to
10000
Torque command -100 to
additional value 100
Positive direction -100 to
100
torque compensation
value
Negative direction -100 to
torque compensation 100
value
Viscous friction 0 to
compensating gain 10000
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
Command smoothing 0 to
filter 10000
Adjust filter 0 to 2000
Unit Function
% Updates this parameter when the Real-time auto tuning
inertia ratio update is enabled (Pr0.02=1 to 4).
% Updates this parameter when high response mode 2 or 3
(Pr0.02=3,4) for Real-time auto tuning is selected.
%
Updates this parameter when high response mode 3
(Pr0.02=4) for Real-time auto tuning is selected.
%
Updates this parameter when high response mode 3
(Pr0.02=3) for Real-time auto tuning is selected.
0.1%/
Updates this parameter when high response mode 3
(10000r/
(Pr0.02=3) for Real-time auto tuning is selected.
min)
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
0.1 ms When stiffness setup is valid (Pr0.02=1 to 4), updates the
parameter based on the setup value.
Sets the time constant for the command filter during 2
degrees of freedom control.
0.1 ms When stiffness setup is valid (Pr0.02=1 to 4), updates the
parameter based on the setup value.
Auto Tuning Functions
5-14