Panasonic MINAS A5-series, Operating Instructions Manual

Page: 237 / 394

5-7
1
Before
Using
the
Products
2
Preparation
3
Connection
4
Setup
5
Adjustment
6
When
in
Trouble
7
Supplement
• 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. Title Function
1 14
2nd gain setup
Sets to 1 if the current setting is not
maintained.
1 15
Mode of position control switching
Sets to 10 to enable the gain switching.
Sets to 0 to disable the gain switching.
1 16
Delay time of position control
switching
Sets to 50 if the current setting is not
maintained.
1 17
Level of position control switching
1 18
Hysteresis at position control
switching
Sets to 33 if the current setting is not
maintained.
1 19
Position gain switching time
1 20
Mode of velocity control switching
Sets to 0 if the current setting is not
maintained.
1 21
Delay time of velocity control
switching
1 22
Level of velocity control switching
1 23
Hysteresis at velocity control
switching
1 24
Mode of torque control switching
1 25
Delay time of torque control switching
1 26
Level of torque control switching
1 27
Hysteresis at torque control switching
• 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. Title Function
6 10 Function expansion setup
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.
6 13 2nd Inertia ratio
Parameter setup can be changed, but
disturbance observer is disabled.
6 23
Disturbance torque
compensating gain
6 24 Disturbance observer filter
2. Real-Time Auto-Gain Tuning
Basic
Related page
• P.4-14... “Pr1.14...” • P.4-52... “Pr6.10...”