Panasonic MINAS A5-series Operating Instructions Manual page 223

1. Details of parameter
[Class 6] Special setting
Title
Pr6.31
Range
Set up the load characteristics estimation speed with the real time auto tuning being valid. A
higher setup value assures faster response to a change in load characteristics but increases
variations in disturbance estimation. Result of estimation is saved to EEPROM every 30
minutes.
Setup value
0
1
2
3 *
* If the automatic oscillation detection is enabled by the support software PANATERM, the
setup value 3 is used.
Title
Pr6.32
Range
When the operation mode of real time auto tuning is set to the customize (Pr0.02 = 6), set
the automatic adjusting function as shown below.
Bit
1 to 0
3 to 2
(continued)
Note • For parameters which No. have a suffix of " * ", changed contents will be validated when
you turn on the control power.
• The setup support software PANATERM can be downloaded from our web site.
Related page
• P.3-30... "Inputs and outputs on connector X4"
Real time auto tuning estimation speed
0 to 3
Mode
No change Stop estimation of load characteristics.
Almost constant Response to changes in load characteristics in every minute.
Slower change Response to changes in load characteristics in every second.
Obtain best suitable estimation in response to changes in load
Faster change
characteristics.
Real time auto tuning custom setup
−32768 to 32767
Content
Enable/disable the load characteristics estimation function.
Setup value
0
Load charac-
1
teristics
* If the load characteristics estimation is disabled, the current setup
estimation *
cannot be changed even if the inertia ratio is updated according to
the estimated value. When the torque compensation is updated by
the estimated value, it is cleared to 0 (invalid).
Set up update to be made based on result of the load characteristics
estimation of Pr0.04 Inertia ratio.
Inertia ratio
Setup value
update
0
1
Related
control mode
—
Unit Default
Description
Related
control mode
—
Unit Default
Description
Function
Disable
Enable
Function
Use the current setup.
Update by the estimated value.
1
P S T F
1
2
3
P S T F
0
4
5
6
7
4-55