Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-19
5.1.4 Real-time auto tuning (Two-degree-of-freedom control mode synchronization type)
The 2 degrees of freedom control mode has two types: standard type and synchronization type.
Standard type This is a standard mode. Use this mode normally.
Synchronization type Use this mode for locus control of multiple axes of an articulated robot, etc.
This item is an auto tuning function exclusive for the synchronization type.
Load characteristic of a machine is estimated on a real-time basis, and using the results, basic gain
settings and friction compensation are automatically specified in accordance of hardness parameters.
Applicable range
This function is enabled under the following conditions:
Conditions for Real-time auto tuning:
Control Mode

Position Control (Semi-closed Control)
Pr6.47 bit0=1 and bit3=1:2 Degrees of Freedom Control Mode Synchronization type
Others

In Servo On status.

Parameters for other functions than control such as torque limit settings must be specified appropriately and
normal rotation of motor must have no problems.
Cautions

After the power is turned on, estimate value following may become quicker regardless of Pr6.31 "Real time
auto tuning estimation speed" until operation data effective for the estimation of load characteristics is
sufficiently accumulated.

When real-time auto-gain tuning is effective, an estimate value may become abnormal due to disturbance. If
you want to obtain stable operation from when the power is turned on, it is recommended to disable the
real-time auto-gain tuning.
Real-time auto tuning may not normally function in the following conditions. If that happens, change the
load conditions/operation pattern or see the descriptions about manual tuning to manually configure
relevant parameters.
Conditions hindering Real-time auto tuning:
Load condition

The load mass is too small or large with reference to the rotor mass (smaller than three times or 20 times or
larger).

The load mass varies.

The mechanical stiffness is extremely low.

Any non-linear characteristic exists such as backlash.
Operation pattern

Continuous use at a low speed of less than 100 [mm/s]

The acceleration is low at 2000 [mm/s] per 1 [s].

A speed at 100 [mm/s] or higher or an acceleration/deceleration of 2000 [mm/s] per 1 [s] does not continue
for 50 [ms] or longer.

The acceleration/deceleration torque is small with reference to the uneven load/ viscous friction torque.