Panasonic MINAS A5-series Operating Instructions Manual page 224

1. Details of parameter
[Class 6] Special setting
6 to 4
7
8
10 to 9
Caution
This parameter should be setup bit by bit. To prevent setting error, use of the setup support
software is recommended when editing parameter.
<Setup procedure of bitwise parameter>
When setting parameter to a value other than 0, calculate the setup value of Pr6.32 in the
following procedure.
1) Identify the LSB of the setup.
Example: LSB of the torque compensation function is 4.
2) Multiply the setup value by power of 2 (LSB).
Example: To set the torque compensation function to friction compensation (middle):
3) Perform steps 1) and 2) for every setups, sum up the values which are to be Pr6.32 setup value.
Example: Load characteristics measurement = enable, inertia ratio update = enable,
4-56
Set up the update to be made according to the results of load
characteristics estimation of Pr6.07 Torque command additional
value, Pr6.08 positive direction torque compensation value and
Pr6.09 negative direction torque compensation value.
Setup value
0
Torque
1
compensation
2
3
4
5
Enable/disable the basic gain setup to be made according to Pr0.03
Real time auto tuning mechanical stiffness selection.
Stiffness
Setup value
setup
0
1
Enable/disable the change of parameter that is normally set at a
fixed value.
Fixed
Setup value
parameter
setup
0
1
Select the gain switching related parameter to be used when the real
time auto tuning is enabled.
Setup value
Gain switching
setup 0
1
2
24 × 4 = 64.
torque compensation = friction compensation (middle), stiffness setup = enable,
fixed parameter = set to a fixed value, gain switching setup = enable, then,
20 × 1 + 22 × 1 + 24 × 4 +27 × 1 + 28 × 1 + 29 × 2 = 1477
Function
Use current setup Pr6.07
Disable torque
0 clear
compensation
Vertical axis mode Update 0 clear
Friction compensation
Update
(low)
Friction compensation
Update Middle
(middle)
Friction compensation
Update
(high)
Function
Disable
Enable
Function
Use the current setup.
Set to a fixed value.
Function
Use the current setup.
Disable gain switching.
Enable gain switching.
Compensation setup
Pr6.08 Pr6.09
0 clear 0 clear
0 clear
Low Low
Middle
High High