Panasonic MINAS A6 Multi Series Technical Reference page 99

5.1Automatic adjusting function
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
6 10 B
6 49 B
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
(To be continued)
5-15
Title Range
1st filter of velocity 0 to 5
detection
2nd filter of velocity 0 to 5
detection
Velocity feed forward 0 to 4000
gain
Velocity feed forward 1 to 6400
filter
Torque feed forward 0 to 2000
gain
Torque feed forward 1 to 6400
filter
Function expansion -32768 to
setup 32767
Adjust/Torque 0 to 99
command attenuation
term
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
Unit Function
-
When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 0.
-
0.1 % When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 1000 (100%).
0.01 ms When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 0 (invalid).
0.1 % When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 1000 (100%).
0.01 ms When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 0 (invalid).
- When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to bit4=1.
- When fixed parameter setup is valid (Pr0.02=1 to 4), set the
parameter to 15.
When Pr0.02=6, set the tenths digit to 1 and maintain the
unit digit.
Unit Function
- Sets to 1 if the current setting is not maintained (Pr0.02=1
to 4).
- For the standard response mode (Pr0.02=1), set the
parameter to 0.
For high response mode 1 to 3 (Pr0.02=2 to 4), set the
parameter to 7.
0.1 ms Sets to 10 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
0.1 ms Sets to 10 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
0.1 ms Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
0.1 ms Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).
- Sets to 0 if the current setting is not maintained
(Pr0.02=1 to 4).