Panasonic MINAS A5-series Operating Instructions Manual page 237

2. Real-Time Auto-Gain Tuning
Basic
• Parameters which are set in response to gain switching setup
The real-time auto-tuning function sets the following parameters as the gain is
switched.
Class No.
1 14
1 15
1 16
1 17
1 18
1 19
1 20
1 21
1 22
1 23
1 24
1 25
1 26
1 27
• Parameters which are always set to invalid.
The following settings are always set to invalid when Pr0.02 Real-time auto-tuning
setup is not 0.
Class No.
6 10
6 13
6 23
6 24
Related page
• P.4-14... "Pr1.14..."
Title
2nd gain setup
Mode of position control switching
Delay time of position control
switching
Level of position control switching
Hysteresis at position control
switching
Position gain switching time
Mode of velocity control switching
Delay time of velocity control
switching
Level of velocity control switching
Hysteresis at velocity control
switching
Mode of torque control switching
Delay time of torque control switching
Level of torque control switching
Hysteresis at torque control switching
Title
Function expansion setup
2nd Inertia ratio
Disturbance torque
compensating gain
Disturbance observer filter
• P.4-52... "Pr6.10..."
Function
Sets to 1 if the current setting is not
maintained.
Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
Sets to 50 if the current setting is not
maintained.
Sets to 33 if the current setting is not
maintained.
Sets to 0 if the current setting is not
maintained.
Function
Instantaneous speed observer function enable
bit (bit 0), disturbance observer function enable
bit (bit 1) and inertia ratio switching function
enable bit (bit 3) are internally disabled.
P a r a m e t e r s e t u p c a n b e c h a n g e d , b u t
disturbance observer is disabled.
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