Panasonic MINAS-A5BL Series Manual page 93

4) 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."
At-
trib-
Parameter
No.
Category
ute
*1).
0 04 B inertia ratio
Torque command
6 07 B
additional value
Positive direction
6 08 B torque compensation
Negative direction
6 09 B torque compensation
Viscous friction
6 50 B
compensating gain
The real-time auto tuning function updates the following basic gain setting parameters in accordance
with Pr0.03 "Selection of machine stiffness at realtime auto-gain tuning" For details, refer to 7)
Basic gain parameter settings table.
At-
trib-
Parameter
No.
Category
ute
*1).
1 00 1st gain of position loop
B
1 01 1st gain of velocity loop
B
1st time constant of
1 02
B
velocity loop integration
1st time constant of
1 04
B
torque filter
2nd gain of position
1 05
B
2nd gain of velocity
1 06
B
2nd time constant of
1 07
B
velocity loop integration
2nd time constant of
1 09
B
torque filter
Positional command
2 22
B
smoothing filter
6 48 Tuning filter
B
R1.00
Setup range
0-10000
-100-100
-100-100
value
-100-100
value
0-10000
Setup range
0-30000
1-32767
1-10000
0-2500
0-30000
loop
1-32767
loop
1-10000
0-2500
0-10000
0-2000
Unit
% This parameter is updated if Pr0.02=1, 2 or 4.
This parameter is updated if the high responce mode 2 ,3 of
%
real-time auto tuning are valid.
This parameter is updated if the high responce mode 3 of
% real-time auto tuning is valid.
%
%/(1000
0r/min)
Unit
0.1/s If real-time auto tuning is valid (Pr0.02=1∼4), update the setting va
lues in accordance with hardness.
0.1 Hz
0.1 ms
0.01 ms
0.1/s
0.1 Hz
0.1 ms
0.01 ms
0.1 ms
0.1 ms
No. SX-DSV02829 -
Function
Function
Motor Business Unit, Panasonic Corporation
87-