Panasonic MINAS A4P Series Instruction Manual page 146

Real-Time Auto-Gain Tuning Mode
Parameters Which Are Automatically Set
Following parameters are automatically adjusted.
SV.PrNo.
10 1st position loop gain
11 1st velocity loop gain
12 1st velocity loop integration time constant
13 1st speed detection filter
14 1st torque filter time constant
18 2nd position loop gain
19 2nd velocity loop gain
1A 2nd velocity loop integration time constant
2nd speed detection filter
1B
1C 2nd torque filter time constant
20 Inertia ratio
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change the parameters which are automati-
cally adjusted.
• SV.Pr31 becomes 10 at position or full closed control and when SV.Pr21 (Real time auto tuning set up)
is 1 to 6, and becomes 0 in other cases.
146
Also following parameters are automatically set up.
Title SV.PrNo. Title
15 Velocity feed forward
16 Feed forward filter time constant
27 Velocity observer
30 2nd gain action set up
31 1st control switching mode
32 1st control switching delay time
33 1st control switching level
34 1st control switching hysteresis
35 Position loop gain switching time
Setup
value
300
50
0
1
10
30
50
33
20