Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-22
Real-time auto tuning function sets the following parameters to the fixed value.

Relevant parameters
Class No. Attribute Title Range Unit Function
1 03 B 1st filter of velocity
detection 0 to 5 - 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), set the parameter
to 0.
1 08 B 2nd filter of velocity
detection 0 to 5 - 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), set the parameter
to 0.
1 10 B Velocity feed forward
gain 0 to 4000 0.1 % 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), set the parameter
to 1000 (100%).
1 11 B Velocity feed forward
filter 0 to 6400 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), set the parameter
to 0 (invalid).
1 12 B Torque feed forward
gain 0 to 2000 0.1 % 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), set the parameter
to 1000 (100%).
1 13 B Torque feed forward
filter 0 to 6400 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), set the parameter
to 0 (invalid).
6 7 B Torque command
additional value -100 to
100 % In the case of the synchronous friction compensation mode
(Pr0.02=2) or load characteristic update mode (Pr0.02=4),
set the parameter to 0.
6 10 B Function expansion
setup -32768 to
32767 - 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), set the parameter
to bit4=1.
6 49 B Adjust/Torque
command attenuation
term 0 to 99 - 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), set the tenths digit
to 1 and maintain the unit digit.
The Real-time automatic tuning sets the following parameters or uses the current settings, depending
on Pr0.02 "Real-time auto-gain tuning setup".

Relevant parameters
Class No. Attribute Title Range Unit Function
1 14 B 2nd gain setup 0 to 1 - Sets to 1 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1 15 B Mode of position
control switching 0 to 10 - Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1 16 B Delay time of position
control switching 0 to
10000 0.1 ms Sets to 10 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1 17 B Level of position
control switching 0 to
20000 - Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1 18 B Hysteresis at position
control switching 0 to
20000 - Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1 19 B Position gain
switching time 0 to
10000 0.1 ms Sets to 10 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
1 20 B Mode of velocity
control switching 0 to 5 - Sets to 0 if the case of the synchronization mode,
synchronous friction compensation mode, stiffness setup
mode, or load change support mode (Pr0.02=1 to 3, 6).
(To be continued)