Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-21
Parameter changed by Real-time auto tuning
The Real-time auto tuning function updates the following parameters according to Pr0.02 "Real-time
auto-tuning setup" by using the load characteristic estimate value.

Relevant parameters
Class No. Attribute Title Range Unit Function
0 04 B Inertia ratio 0 to
10000 % Updates this parameter in the case of the synchronization
mode (Pr0.02=1), synchronous friction compensation mode
(Pr0.02=2) and load characteristic update mode (Pr0.02=4)
for Real-time auto tuning.
6 08 B Positive direction
torque Compensation
Value -100 to
100 % Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
6 09 B Negative direction
torque compensation
value -100 to
100 % Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
6 50 B Viscous friction
compensating gain 0 to
10000 0.1%/
(10000r/
min)
Updates this parameter in the case of the synchronous
friction compensation mode (Pr0.02=2) and load
characteristic update mode (Pr0.02=4) for Real-time auto
tuning.
The Real-time auto tuning function updates the following basic gain setup parameters according to
Pr0.03 "Real-time auto-tuning machine stiffness setup". For details, refer to "Basic gain parameter setup
table".

Relevant parameters
Class No. Attribute Title Range Unit Function
1 00 B 1st gain of position
loop 0 to
30000 0.1/s In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1 01 B 1st gain of velocity
loop 1 to
32767 0.1 Hz In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1 02 B 1st time constant of
velocity loop
integration 1 to
10000 0.1 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1 04 B 1st time constant of
torque filter 0 to 2500 0.01 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1 05 B 2nd gain of position
loop 0 to
30000 0.1/s In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1 06 B 2nd gain of velocity
loop 1 to
32767 0.1 Hz In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1 07 B 2nd time constant of
velocity loop
integration 1 to
10000 0.1 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
1 09 B 2nd time constant of
torque filter 0 to 2500 0.01 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.
6 48 B Adjust filter 0 to 2000 0.1 ms In the case of the synchronization mode, synchronous
friction compensation mode, stiffness setup mode, or load
change support mode (Pr0.02=1 to 3, 6), updates the
parameter based on the setup value.