Panasonic MINAS A5-series, Operating Instructions Manual

Page: 224 / 394

4-56
6 to 4
Torque
compensation
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 Function Compensation setup
0 Use current setup Pr6.07 Pr6.08 Pr6.09
1
Disable torque
compensation
0 clear 0 clear 0 clear
2 Vertical axis mode Update 0 clear 0 clear
3
Friction compensation
(low)
Update Low Low
4
Friction compensation
(middle)
Update Middle Middle
5
Friction compensation
(high)
Update High High
7
Stiffness
setup
Enable/disable the basic gain setup to be made according to Pr0.03
Real time auto tuning mechanical stiffness selection.
Setup value Function
0 Disable
1 Enable
8
Fixed
parameter
setup
Enable/disable the change of parameter that is normally set at a
fixed value.
Setup value Function
0 Use the current setup.
1 Set to a fixed value.
10 to 9
Gain switching
setup
Select the gain switching related parameter to be used when the real
time auto tuning is enabled.
Setup value Function
0 Use the current setup.
1 Disable gain switching.
2 Enable gain switching.
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):
24 × 4 = 64.
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,
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
1. Details of parameter
[Class 6] Special setting