Panasonic MINAS A5-series Operating Instructions Manual page 236

2. Real-Time Auto-Gain Tuning
Basic
Parameters set/changed by real-time auto-gain tuning
• Parameters which are updated
The real-time auto-tuning function updates the following parameters according to
Pr0.02 Real-time auto-tuning setup and Pr6.32 Real-time auto-tuning custom setup
and by using the load characteristic estimate values.
Class No.
0
6
6
6
• Parameters which are updated to setup value corresponding to stiffness setup
The real-time auto-tuning function updates the following basic gain setup parameters
according to Pr0.03 Real-time auto-tuning stiffness setup.
Class No.
1
1
1
1
1
1
1
1
• Parameters which are set to fixed value
Real-time auto-tuning function sets the following parameters to the fixed value.
Class No.
1
1
1
1
1
1
Related page
• P.4-6 "Pr0.04"
5-6
Title
04 Inertia ratio
Torque command
07
additional value
Positive direction torque
08
compensation value
Negative direction torque
09
compensation value
Title
00 1st gain of position loop
01 1st gain of velocity loop
1st time constant of velocity loop
02
integration
04 1st time constant of torque filter
05 2nd gain of position loop
06 2nd gain of velocity loop
2nd time constant of velocity
07
loop integration
09 2nd time constant of torque filter
Title
03 1st filter of speed detection
08 2nd filter of speed detection
10 Velocity feed forward gain
11 Velocity feed forward filter
12 Torque feed forward gain
13 Torque feed forward filter
• P.4-12... "Pr1.00..."
Updates this parameter when the real-time auto-
tuning inertia ratio update is enabled.
Update this parameter when the vertical axis mode
for real time auto-tuning is valid.
Update this parameter when the friction
compensation mode for real time auto-tuning is valid.
Update this parameter when the friction
compensation mode for real time auto-tuning is valid.
When stiffness setup is valid, updates the
parameter based on the setup value.
Refer to P.5-9 Basic gain parameter setup
table.
Setup value when fixed parameter
• P.4-52 "Pr6.07..."
Function
Function
setup is valid.
0
300 (30%)
50 (0.5ms)
0