Panasonic MINAS A6 Series, Technical Reference

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5.1Automatic adjusting function
5-23
Class No. Attribute Title Range Unit Function
1 21 B Delay time of velocity
control switching 0 to
10000 0.1 ms 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 22 B Level of velocity
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 23 B Hysteresis at velocity
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 24 B Mode of torque control
switching 0 to 3 - 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 25 B Delay time of torque
control switching 0 to
10000 0.1 ms 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 26 B Level of torque 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 27 B Hysteresis at torque
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).
In case Pr 0.02 "Real-time auto-gain tuning setup" = 1 to 3, the following settings and parameters are
set automatic for enable/disable state of Pr 6.10 "Function expansion setup" load variation suppression
function automatic adjustment.

Relevant parameters
Class No. Attribute Title Range Unit Function
6 10 B Function expansion
setup -32768 to
32767 - When set to Pr 6.10 bit14=1, load variation suppression
function will become enabled (bit1 = 1).
When set to Pr 6.10 bit14=0, it is disabled(bit1 = 0).
6 23 B Load change
compensation gain -100 to
100 % When set to Pr 6.10 bit14=1, sets to 90%.
When set to Pr 6.10 bit14=0, sets to 0%.
6 24 B Load change
compensation filter 10 to
2500 0.01 ms When set to Pr 6.10 bit14=1, updates to match rigidity.
When set to Pr 6.10 bit14=0, value is held.
6 73 B Load estimation
filter 0 to 2500 0.01 ms When set to Pr 6.10 bit14=1, sets to 0.13 ms.
When set to Pr 6.10 bit14=0, sets to 0 ms.
6 74 B Torque
compensation
frequency 1 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
6 75 B Torque
compensation
frequency 2 0 to 5000 0.1 Hz Regardless value of the Pr 6.10 bit 14, sets to 0.
6 76 B Load estimation
count 0 to 8 - When set to Pr 6.10 bit14=1, sets to 4.
When set to Pr 6.10 bit14=0, sets to 0.