Panasonic MINAS A6 Series, Technical Reference

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Auto Tuning Functions
5-24
In case Pr 0.02 "Real-time auto-gain tuning setup" = 6 (load fluctuation response mode), the setting will
be changed to the following.

Relevant parameters
Class No. Attribute Title Range Unit Function
6 10 B Function expansion
setup -32768 to
32767 - Load fluctuation suppression function always become
enabled (bit1 = 1, bit2=1, bit14=1)
6 23 B Load change
compensation gain -100 to
100 % Sets to 100%.
6 24 B Load change
compensation filter 10 to
2500 0.01 ms Updates to match rigidity.
6 73 B Load estimation
filter 0 to 2500 0.01 ms Sets to 0.13 ms.
6 74 B Torque
compensation
frequency 1 0 to 5000 0.1 Hz Updates to match rigidity.
6 75 B Torque
compensation
frequency 2 0 to 5000 0.1 Hz Updates to match rigidity.
6 76 B Load estimation
count 0 to 8 - Sets to 4.
How to operate
When Pr0.02 "Real-time auto tuning mode setup" is set to a value other than 0, control parameter is
automatically set according to Pr0.03 "Real-time auto tuning machine stiffness setup".
Enter an operation command when about 100 ms has elapsed after the driver module was turned ON.
When the load characteristic is correctly estimated, Pr0.04 "Inertia ratio" is updated. With certain mode
settings, Pr6.07 "Torque command additional value", Pr6.08 "Positive direction torque compensation
value", Pr6.09 "Negative direction torque compensation value", and Pr6.50 "Viscous friction
compensating gain" will also be changed.
When the value of Pr0.03 "Real-time auto tuning machine stiffness setup" is increased, the motor
responsiveness will be improved. Determine the most appropriate stiffness in relation to the positioning
setup time and vibration condition.
Other cautions

Immediately after the first servo-on upon start up; or after increasing Pr0.03 "Real-time auto tuning machine
stiffness setup", abnormal sound or oscillation may be generated until the load characteristics estimation is
stabilized. It is not an abnormality if the load characteristic estimation is stabilized soon. If oscillation or
abnormal sound lasts or repeats for 3 or more reciprocating operations, however, take the following
countermeasures.
(1) Lower the setting value of Pr0.03 "Real-time auto tuning machine stiffness setup".
(2) Set Pr0.02 "Real-time auto tuning setup" to 0 to disable the Real-time auto tuning.
(3) Set Pr 0.04 "Inertial ratio" to the calculational value of the equipment and set Pr6.07 "Torque command
additional value", Pr6.08 "Positive direction torque compensation value", Pr6.09 "Negative direction
torque compensation value", and Pr6.50 "Viscous friction compensating gain" to 0.

When abnormal noise and oscillation occurs, Pr0.04 "Inertia ratio", Pr6.07 "Torque command additional
value", Pr6.08 "Positive direction torque compensation value", Pr6.09 "Negative direction torque
compensation value", and Pr6.50 "Viscous friction compensating gain" might have changed to extreme
values. Take the same measures as described in step (3) above in these cases.

Among the results of real-time auto-gain tuning, Pr0.04 "Inertia ratio", Pr6.07 "Torque command additional
value", Pr6.08 "Positive direction torque compensation value", Pr6.09 "Negative direction torque
compensation value", and Pr6.50 "Viscous friction compensating gain" will be written to EEPROM every 30
minutes. When you turn on the power again, auto-tuning will be executed using the latest data as initial
values. If power is turned off within 30 minutes after the end of the tuning process, the result of the real-time
auto-gain tuning is not saved. If the result is not saved, manually write parameters to EEPROM and then turn
off power.