Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-20
Parameters controlling operation of Real-time auto tuning
Configure the Real-time auto tuning operation by setting the following parameters.

Relevant parameters
Class No. Attribute Title Range Unit Function
0 02 B Real-time auto-gain
tuning setup 0 to 6 - Specifies the operation mode of Real-time auto tuning.
Setup
value
Mode Description
0, 6 Invalid The Real-time auto tuning function is disabled.
1 Synchronization Mode for synchronization control.
Offset load compensation and friction
compensation are not performed. The
command filter will be maintained. Use this
mode first. If there is any problem, use the
other mode.
2 Synchronous
friction
compensation In addition to the synchronization mode,
dynamic friction/viscous friction compensation
is applied. Use this mode for a load with large
friction.
3 Stiffness setup Inertia ratio estimation, offset load
compensation, and friction compensation are
not performed, and only the gain filter setup
corresponding to the stiffness table is
updated.
For a load with large inertia variations,
estimate the inertia in the synchronization
mode, etc., and then use this mode.
4 Load
characteristic
update In the gain filter setup, only the inertia ratio
and dynamic friction/viscous friction
compensation are applied among load
characteristics.
5
Load
characteristic
measurement Basic gain settings and friction compensation
settings are not changed and load
characteristic estimation only is made. This is
used in combination with setup support
software.
6 Load change
support mode Use this mode to make robust adjustments in
load change.
0 03 B Real-time
auto-tuning
machine stiffness
setup 0 to 31 - Specifies the response for enabled Real-time auto tuning.
A larger setting increases the speed response and servo stiffness
but invites more vibration.
Gradually increase the setting while monitoring the operation.
6 10 B Function expansion
setup -32768
to 32767 - The automatic adjustment of load change inhibit function is
enabled with bit14=1.
6 31 B Real-time auto
tuning estimation
speed 0 to 3 - Specifies the load characteristics estimation speed for enabled
Real-time auto tuning. A larger setting allows faster follow-up to
the variation in the load characteristics but also increases
estimation fluctuation due to disturbance. The result of estimation
is stored in the EEPROM every 30 minutes.
Setup
value
Mode Description
0 No change Terminates estimation of load characteristic.
1 Little change Responded against change of load
characteristic on the order of minutes.
2 Gradual
change Responded against change of load
characteristic on the order of seconds.
3 * Steep change Appropriate estimation is made against change
of load characteristic.
* If oscillation automatic detection is made valid from setup
support software(PANATERM for Multi), this setting is ignored
and operation is based on settings of setting value 3.
6 32 B Real-time auto
tuning custom
setup -32768
to 32767 - Not available in 2 degrees of freedom control mode.
Always set to 0.